Unmanned aerial vehicle route generation method and device, electronic equipment and storage medium

Abstract

The invention discloses an unmanned aerial vehicle route generation method and device, electronic equipment and a storage medium. The method comprises the steps of determining a target route type of a target object; determining a first area corresponding to the target object based on the target route type; and based on the first area, determining a target route when the unmanned aerial vehicle inspects the target object. The first area comprises a first surface and a second surface, the first surface and the second surface of the first area are opposite to each other, based on the first area, determining a target route when the unmanned aerial vehicle polls the target object, including: determining a target pointing direction according to a preset sequence, the target pointing direction corresponding to the first surface of the first area or the second surface of the first area; the preset sequence is a connection sequence of reference points on the target object when the first region is constructed; determining a route generation area based on the target pointing direction; the course generation region is generated on the first surface or the second surface. According to the technical scheme of the invention, accurate routes can be generated for different detected objects.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a method, device, electronic device, and storage medium for generating a UAV route. Background Art

[0002] Currently, the typical method for generating drone routes is to generate mapping points or inspection points, then connect them to form inspection routes or mapping routes. However, these routes, which are generated by generating mapping points or inspection points and then connecting them, may not fully account for the complex shapes or features of objects, resulting in inaccurate routes. This can still lead to situations where the drone cannot fully inspect the object or may even touch the object during inspection. Therefore, it is crucial to determine how to generate routes tailored to the specific objects being inspected. Summary of the Invention

[0003] The present invention provides a method, device, electronic device and storage medium for generating a UAV route, so as to generate accurate routes for different detection objects.

[0004] According to one aspect of the present invention, a method for generating a drone route is provided, the method comprising:

[0005] Determining a target route type of a target object; the target route type is determined based on inspection characteristics of the target object;

[0006] Determine a first area corresponding to the target object based on the target route type; the first area is an area generated based on a reference point or reference area on the target object;

[0007] Determining a target route for the drone to inspect the target object based on the first area;

[0008] The first area includes a first surface and a second surface, the first surface and the second surface of the first area are opposite to each other, and determining a target route for the drone to inspect the target object based on the first area includes:

[0009] determining a target pointing direction according to a preset order, the target pointing direction corresponding to the first surface of the first area or the second surface of the first area; the preset order is the order of connecting reference points on the target object when constructing the first area;

[0010] Based on the target pointing direction, a route generation area is determined; wherein the route generation area is generated on the first surface or the second surface.

[0011] According to another aspect of the present invention, a device for generating a drone route is provided, the device comprising:

[0012] A route type determination module is used to determine a target route type of a target object; the target route type is determined based on inspection characteristics of the target object;

[0013] an area determination module, configured to determine a first area corresponding to a target object based on the target route type; the first area being an area generated based on a reference point or a reference area on the target object;

[0014] a route generation module, configured to determine a target route for the drone to inspect the target object based on the first area;

[0015] The first area includes a first surface and a second surface, the first surface and the second surface of the first area are opposite surfaces to each other, and the route generation module includes a route generation area determination unit, the route generation area determination unit is configured to:

[0016] determining a target pointing direction according to a preset order, the target pointing direction corresponding to the first surface of the first area or the second surface of the first area; the preset order is the order of connecting reference points on the target object when constructing the first area;

[0017] Based on the target pointing direction, a route generation area is determined; wherein the route generation area is generated on the first surface or the second surface.

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

[0019] at least one processor; and

[0020] a memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed 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 method for generating a drone route as described in any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for generating a drone route according to any embodiment of the present invention when executed.

[0023] The technical solution of the embodiment of the present invention determines the target route type of the target object; the target route type is determined based on the inspection characteristics of the target object, and different types of inspection routes are configured for the target object according to the inspection situation of the target object, thereby accurately determining the target route type of the target object. Further, based on the target route type, a first area corresponding to the target object is determined; the first area is an area generated based on a reference point or reference area on the target object; that is, the reference point or reference area on the target object is selected based on the target route type, thereby fully considering the special structure of the target object and ensuring the accurate determination of the first area. Finally, based on the first area, the target route of the drone when inspecting the target object is determined, thereby generating accurate routes for different inspection objects and improving the accuracy of the inspection. Furthermore, when the first area includes a first surface and a second surface, the first surface and the second surface of the first area are opposite surfaces, and the preset order is the connection order of the reference points on the target object when constructing the first area, the target pointing direction is determined according to the preset order, and the target pointing direction corresponds to the first surface of the first area or the second surface of the first area; based on the target pointing direction, the route generation area is determined, thereby accurately determining the route generation area, thereby achieving rapid and accurate route generation in the route generation area, and improving the safety of route generation.

[0024] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 is a flow chart of a method for generating a drone route according to an embodiment of the present invention;

[0027] Figure 2 is a schematic diagram of a first region applicable to an embodiment of the present invention;

[0028] Figure 3 is a flow chart of another method for generating a drone route according to an embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of a second reference body applicable to an embodiment of the present invention;

[0030] Figure 5is a schematic diagram of a first reference body applicable to an embodiment of the present invention;

[0031] Figure 6 is a schematic diagram of generating a route based on a first reference body according to an embodiment of the present invention;

[0032] Figure 7 is a schematic diagram of a target circular area applicable to an embodiment of the present invention;

[0033] Figure 8 is a schematic diagram of target point selection applicable to an embodiment of the present invention;

[0034] Figure 9 2 is a schematic structural diagram of a device for generating a UAV route according to an embodiment of the present invention;

[0035] Figure 10 3 is a schematic diagram of the structure of an electronic device for implementing the method for generating a drone route according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, 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 inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] Example 1

[0039] Figure 1This is a flow chart of a method for generating a drone route provided by an embodiment of the present invention. This embodiment is applicable to the generation of drone routes for different types of target objects. The method can be executed by a drone route generation device, which can be implemented in the form of hardware and / or software. The drone route generation device can be configured in any electronic device with network communication capabilities. Figure 1 As shown, the method for generating a drone route of the present invention includes:

[0040] S110 , determining a target route type of the target object; the target route type is determined based on inspection characteristics of the target object.

[0041] Among them, the target object can be understood as the inspection object that needs to be inspected by a drone. Different inspection objects have different shapes, and inspection objects of different shapes have different inspection characteristics. Therefore, different inspection characteristics are classified according to the shape characteristics of different inspection objects, and the comprehensive inspection routes corresponding to different inspection characteristics are different. Therefore, a route association relationship is established between the inspection characteristics of different inspection objects and the route type. Therefore, when determining to inspect the target object, the inspection characteristics of the target object can be extracted, and the target route type of the target object can be accurately obtained based on the inspection characteristics of the target object and the route association relationship.

[0042] The target route type may include a first route type and a second route type. The first route type is an open route with a first preset shape. The second route type is a closed route with a second preset shape. For example, the first preset shape may be an I-beam. The second preset shape may be a circular ring.

[0043] Furthermore, determining the target route type of the target object may further include: responding to route instruction information for the target object and determining the target route type of the target object based on the route instruction information. The route instruction information may be understood as an instruction indicating the route type to be used during inspection of the target object.

[0044] S120. Determine a first area corresponding to the target object based on the target route type; the first area is an area generated based on a reference point or reference area on the target object.

[0045] The reference point or reference area may be understood as a point or area on the inspection feature of the target object corresponding to the target route type.

[0046] Specifically, for different target route types, the inspection features of the target object are different, and the first area selected for generating the target pre-flight map for each inspection feature is also different. Therefore, after determining the target route type, it is necessary to define a reference point or reference area on the target object based on the inspection features of the target object corresponding to the target route type, and then determine the first area corresponding to the target object based on the reference point or reference area.

[0047] S130: Determine a target route for the drone to inspect the target object based on the first area.

[0048] Specifically, the first area includes inspection features of the target object, and the first area is combined with a safety distance for drone inspection to generate a target route type of the target object in the first area.

[0049] As an optional technical solution, optionally, if the target route type is a first route type, the route of the first route type is an open route and has a first preset shape; accordingly, determining a first area corresponding to the target object based on the target route type, and determining a target route for the drone to inspect the target object based on the first area may include steps A1-A3:

[0050] Step A1: In response to a first trigger operation, obtain at least a preset number of first reference points on a first preset area of the target object, and construct a second area based on the first reference points; the first trigger operation is an operation of clicking the first reference point; the second area is a surface formed by connecting the first reference points in a preset order.

[0051] The first preset area can be understood as the area that needs to be selected on the target object to determine the first area for the target route type. The preset number can be set according to the minimum number of points required to form a plane of a preset shape. For example, Figure 2 As shown, the target object is a cube. If the first preset area of the target object is a gray square area, the preset number can be 4. The points at the four corners of the first preset area are further selected as first reference points, and the first reference points are connected in a preset order to form a second area.

[0052] Step A2: Obtain angle information and a first safety distance, adjust the second area based on the angle information and the first safety distance, and obtain the first area corresponding to the target object; the angle information is used to describe the tilt angle and tilt orientation of the adjusted second area; the first safety distance is used to describe the shortest safety distance from the target object.

[0053] Specifically, during the drone inspection process, a certain safety distance is required to avoid collision between the drone and the target object. Therefore, the angle information and the first safety distance are obtained, the second area is tilted up or down according to the angle information, and the distance between the second area and the target object is set to at least the first safety distance. For example, Figure 2 A first region of a target object is shown.

[0054] Furthermore, acquiring the angle information and the first safety distance may include: responding to parameter instruction information for the target object, and determining the angle information and the first safety distance based on the parameter instruction information. The parameter instruction information may be input information of the angle and the safety distance.

[0055] Step A3: determining a first route generation area according to a preset sequence, and generating a target route for the drone to inspect the target object in the first route generation area.

[0056] The preset order is the order in which the first reference points on the target object are connected when constructing the first region. Generally, the preset order is a continuous order, which can be a counterclockwise or clockwise connection order. For example, the preset order can be a counterclockwise or clockwise connection order formed by consecutively clicking the first reference points. The first region includes a first side and a second side. The first side is the side of the first region away from the target object, and the second side is the side of the first region closer to the target object.

[0057] Specifically, determining the first route generation area according to a preset order includes: determining a target pointing direction according to a preset order, and determining a route generation area based on the target pointing direction; wherein the target pointing direction corresponds to the first surface of the first area or the second surface of the first area; and the route generation area is generated on the first surface or the second surface.

[0058] Furthermore, the target pointing direction is determined according to a preset order, including: determining the target pointing direction according to the preset order and the right-hand rule, specifically: if the preset order is a counterclockwise connection order, then determining the first pointing direction according to the right-hand rule, and the first pointing direction corresponds to the first surface of the first area; if the preset order is a clockwise connection order, then determining the second pointing direction according to the right-hand rule, and the second pointing direction corresponds to the second surface of the first area.

[0059] Furthermore, based on the target pointing direction, the route generation area is determined, including: if the target pointing direction is a first pointing direction, then the surface corresponding to the first pointing direction is determined as the first route generation area; if the target pointing direction is a second pointing direction, then the surface corresponding to the second pointing direction is flipped according to a preset central axis to obtain the first route generation area; the preset central axis is the central axis of the surface corresponding to the second pointing direction; so as to realize the rapid and accurate generation of the target route in the first route generation area when the drone inspects the target object, and also greatly avoid the error in determining the target route due to the error in selecting the route generation area, thereby improving the accuracy of route determination.

[0060] The technical solution of the embodiment of the present invention determines the target route type of the target object; the target route type is determined based on the inspection characteristics of the target object, and different types of inspection routes are configured for the target object according to the inspection situation of the target object, thereby accurately determining the target route type of the target object. Further, based on the target route type, a first area corresponding to the target object is determined; the first area is an area generated based on a reference point or reference area on the target object; that is, the reference point or reference area on the target object is selected based on the target route type, thereby fully considering the special structure of the target object and ensuring the accurate determination of the first area. Finally, based on the first area, the target route of the drone when inspecting the target object is determined, thereby generating accurate routes for different inspection objects and improving the accuracy of the inspection. Furthermore, when the first area includes a first surface and a second surface, the first surface and the second surface of the first area are opposite surfaces, and the preset order is the connection order of the reference points on the target object when constructing the first area, the target pointing direction is determined according to the preset order, and the target pointing direction corresponds to the first surface of the first area or the second surface of the first area; based on the target pointing direction, the route generation area is determined, thereby accurately determining the route generation area, thereby achieving rapid and accurate route generation in the route generation area, and improving the safety of route generation.

[0061] Example 2

[0062] Figure 3 This is a flow chart of another method for generating a drone route provided by an embodiment of the present invention. The technical solution of this embodiment further optimizes the process of "if the target route type is the second route type, the second route type is a closed route, and has a second preset shape; determine the first area corresponding to the target object based on the target route type" in the above embodiment. This embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 3 As shown, the method for generating a drone route of the present invention includes:

[0063] S210: Determine that the target route type of the target object is a second route type, where the route of the second route type is a closed route and has a second preset shape.

[0064] Specifically, the second route type can be understood as a route type corresponding to a route that requires a circumferential inspection of a target object, that is, the drone needs to circle around the target object for inspection.

[0065] S220. In response to a second trigger operation, obtain at least a preset number of second reference points on a second preset area of the target object, and construct a first area based on the second reference points; the second trigger operation is an operation of clicking the second reference point.

[0066] The second preset area can be understood as the area that needs to be selected on the target object to determine the first area for the target route type. The preset number can be set according to the minimum number of points required to form a plane of a preset shape. For example, Figure 4 As shown, the target object is a cube. If the second preset area of the target object is a large gray square area, the preset number can be 4. The points at the four corners of the second preset area are further selected as second reference points, and the second reference points are connected in a preset order to form the first area.

[0067] S230. In response to the third trigger operation, a target reference area including the target object is obtained, the target object in the target reference area is identified, and a first area corresponding to the target object is determined; the third trigger operation is used to describe the operation of selecting a preset range including the target object; the first area is the surface with the largest area of the target object in the top view.

[0068] See also Figure 4 , the target reference area can be Figure 4 In the area after the entire target object is framed, the first area corresponding to the target object is framed and selected by performing feature recognition on the target object in the target reference area.

[0069] S240: Based on the first area, determine a target route for the drone to inspect the target object.

[0070] Specifically, based on the first area, determining the target route for the drone to inspect the target object includes steps B1-B2:

[0071] Step B1: construct a first reference body based on the first area; the first reference body is a polygon that wraps the target object.

[0072] Specifically, the first region may be a top surface or a bottom surface of a polyhedron. A polyhedron that can include the target object is constructed based on the first region and serves as the first reference body.

[0073] Optionally, constructing a first reference body based on the first area may include: obtaining height information of the target without an object, determining a first translation distance based on the height information, translating the first area upward based on the first translation distance to determine a third area; obtaining reference position information of the plane where the bottom of the target object is located, and determining a second translation distance based on the reference position information and the position information of the first area; constructing a second reference body based on the first area and the third area, translating the second reference body downward by the second translation distance to determine the first reference body; the bottom of the first reference body and the bottom of the target object are located on the same plane.

[0074] For example, Figure 4 and 5 As shown, the first area is translated upward by a first translation distance to obtain a third area, the first area and the third area constitute a second reference body, and the second reference body is further translated downward by a second translation distance to obtain a first reference body, as shown Figure 5 This technical solution ensures that the first reference body constructed by the first area and the third area can completely enclose the target object image, so that the target route determined on the first reference body can accurately reflect the route of the inspection target object.

[0075] Step B2: generating a target route for the drone to inspect the target object based on the first reference body.

[0076] Specifically, the first reference body generates a target route for the drone when inspecting the target object.

[0077] The technical solution of this embodiment optionally includes generating a target route for the drone to inspect the target object based on the first reference body, which may include: determining a second safety distance; the second safety distance being the shortest distance from a first preset surface of the first reference body, where the first preset surface is a surface of the polyhedron excluding the top and bottom surfaces of the polyhedron; extending an edge of the second preset surface on the first reference body by the second safety distance based on the second safety distance to obtain a third reference body; the second preset surface being the top and bottom surfaces of the polyhedron; and generating a target route for the drone to inspect the target object based on the third reference body.

[0078] For example, Figure 6 As shown, after the first reference body is determined, in order to ensure that the UAV does not collide with the target object during the inspection of the target object, a second safety distance is introduced. Because the route of the second route type is a route around the target object, the edge of the second preset surface on the first reference body is extended by the second safety distance to obtain a third reference body, and the target route for the UAV to inspect the target object is further generated on the third reference body.

[0079] Optionally, generating a target route for a drone inspecting a target object based on a third reference body may include: determining whether a third reference point exists on the third reference body; the third reference point being a point on the second preset surface of the third reference body whose distance from a fourth reference point is greater than a point on the second preset surface of the third reference body corresponding to the second safety distance; and the fourth reference point being a point on the second preset surface of the first reference body whose distance from a point on the second preset surface of the third reference body is closest to a point on the second preset surface of the first reference body. If a third reference point exists on the third reference body, the fourth reference point corresponding to the third reference point is used as the fifth reference point, and a target circular area is generated with the fifth reference point as the center and the second safety distance as the radius. The second preset surface of the third reference body is adjusted based on the target circular area to obtain a fourth reference body. Generating a target route for a drone inspecting a target object based on the fourth reference body.

[0080] For example, Figure 7 As shown, the reference distance between the point on the second preset surface of the third reference body and the fourth reference point on the first reference body is determined. If the reference distance is greater than the second safety distance, the corresponding point on the second preset surface of the third reference body is used as the third reference point. The fourth reference point corresponding to the third reference point is further used as the fifth reference point. With the fifth reference point as the center and the second safety distance as the radius, a target circular area is generated, as shown in FIG. Figure 7 The left figure further adjusts the second preset surface of the third reference body based on the target circular area to obtain Figure 7 The figure on the right shows how the third reference body is adjusted to the fourth reference body, and finally the target route for the drone to inspect the target object is generated on the fourth reference body.

[0081] The technical solution of the present invention takes into account that when a UAV is operating at a point on a third reference body, when the distance between the UAV and a point on the first reference body is greater than the second safety distance, the UAV's flight distance is increased, resulting in reduced operating efficiency and extended operating time. Therefore, an arc is drawn with a point on the first reference body as the center and the second safety distance as the radius to determine the intersection with the arc, thereby shortening the UAV's flight distance and improving flight efficiency.

[0082] Optionally, generating a target route for a drone inspecting the target object based on the fourth reference body may include: using the point where the target circular area intersects the edge on the second preset surface of the third reference body as a sixth reference point. Constructing a target arc based on the sixth reference point, and determining the start and end points of the target arc. Starting from the start point of the target arc, determining a first target distance between the start point of the target arc and a seventh reference point; the seventh reference point is a point on the target arc excluding the start and end points. Using the seventh reference point corresponding to the first target distance equal to the second safety distance as the first target point, continuing from the first target point, determining a second target distance between the first target point and an eighth reference point; the eighth reference point is an uncalculated point on the target arc; using the eighth reference point corresponding to the second target distance equal to the second safety distance as the second target point, until the distance between the next target point and the end point of the target arc is less than or equal to the second safety distance, and updating the fourth reference body based on all target points; and generating a target route for a drone inspecting the target object based on the updated fourth reference body.

[0083] Specifically, since drones usually fly in a straight line, if the arc angle is large, the drone may lose speed when it deflects and moves, so the arc needs to be adjusted to ensure the drone's speed. Figure 8 , using point A of the target arc on the fourth reference body as the sixth reference point and point C of the fourth reference body as the endpoint of the target arc. Starting from the sixth reference point A of the fourth reference body, the distance between its adjacent points is calculated. If this distance is less than the second safety distance, the distance between the adjacent point's next adjacent point and the sixth reference point A is calculated, until the distance between the sixth reference point A and point B meets the second safety distance. The distance between point B and the next adjacent point is then calculated again until the distance between the next target point and the endpoint of the target arc is less than or equal to the second safety distance. The fourth reference body is then updated based on all target points, and the target route for the drone to inspect the target object is generated on the updated fourth reference body.

[0084] The technical solution of this embodiment takes into account that drones usually fly in a straight line. If the angle of the arc is large, the speed of the drone may decrease when it deflects and moves. Therefore, by determining the target point on the arc, the angle of the arc is greatly reduced, avoiding the drone from continuously turning or making large turns during flight. This ensures that unmanned inspection operations can be carried out normally while ensuring the inspection speed of the drone.

[0085] The technical solution of the embodiment of the present invention, after determining that the target route type of the target object is the second route type, in response to the second trigger operation, obtains at least a preset number of second reference points on the second preset area of the target object, and constructs the first area based on the second reference points; the second trigger operation is the operation of clicking the second reference point; and realizes the construction of a precise first area for the feature points on the target object. Alternatively, in response to the third trigger operation, the target reference area containing the target object is obtained, the target object in the target reference area is identified, and the first area corresponding to the target object is determined; because the third trigger operation is used to describe the operation of selecting a preset range including the target object; the first area is the surface with the largest area of the target object in the top view, and by performing feature identification on the target object in the target reference area, the precise construction of the first area for the target object is realized. Further, the target route for the drone when inspecting the target object is generated on the first area, and accurate routes are generated for different detection objects, thereby improving the accuracy of the inspection.

[0086] Example 3

[0087] Figure 9 This is a schematic diagram of the structure of a UAV route generation device provided by an embodiment of the present invention. This embodiment is applicable to the generation of UAV routes for different types of target objects. The UAV route generation device can be implemented in the form of hardware and / or software. The UAV route generation device can be configured in any electronic device with network communication function. Figure 9 As shown, the device for generating the drone route includes:

[0088] The route type determination module 310 is used to determine the target route type of the target object; the target route type is determined based on the inspection characteristics of the target object;

[0089] The region determination module 320 is configured to determine a first region corresponding to the target object based on the target route type; the first region is a region generated based on a reference point or a reference region on the target object;

[0090] A route generating module 330 is configured to determine a target route for the drone to inspect the target object based on the first area;

[0091] The first area includes a first surface and a second surface, the first surface and the second surface of the first area are opposite surfaces to each other, and the route generation module includes a route generation area determination unit, the route generation area determination unit is configured to:

[0092] determining a target pointing direction according to a preset order, the target pointing direction corresponding to the first surface of the first area or the second surface of the first area; the preset order is the order of connecting reference points on the target object when constructing the first area;

[0093] Based on the target pointing direction, a route generation area is determined; wherein the route generation area is generated on the first surface or the second surface.

[0094] Based on the above embodiment, optionally, the route generation area determination unit is configured to:

[0095] If the target pointing direction is the first pointing direction, determining the surface corresponding to the first pointing direction as the first route generation area; the first pointing direction corresponds to the first surface of the first area;

[0096] If the target pointing direction is the second pointing direction, the surface corresponding to the second pointing direction is flipped along the preset central axis to obtain the first route generation area; the second pointing direction corresponds to the second surface of the first area; the preset central axis is the central axis of the surface corresponding to the second pointing direction;

[0097] A target route for the drone to inspect the target object is generated in the first route generation area.

[0098] Based on the above embodiment, optionally, if the target route type is a first route type, the route of the first route type is an open route and has a first preset shape;

[0099] Accordingly, the region determination module includes a first region determination unit, which is configured to:

[0100] In response to a first trigger operation, obtaining at least a preset number of first reference points on a first preset area of the target object, and constructing a second area based on the first reference points; the first trigger operation is an operation of clicking the first reference point; the second area is a surface formed by connecting the first reference points in a preset order;

[0101] Obtain angle information and a first safety distance, adjust the second area based on the angle information and the first safety distance, and obtain the first area corresponding to the target object; the angle information is used to describe the adjustment of the tilt angle and tilt orientation of the second area; the first safety distance is used to describe the shortest safety distance from the target object.

[0102] Based on the above embodiment, optionally, if the target route type is a second route type, the route of the second route type is a closed route and has a second preset shape;

[0103] Accordingly, the region determination module includes a second region determination unit, which is configured to:

[0104] In response to a second trigger operation, obtaining at least a preset number of second reference points on a second preset area of the target object, and constructing the first area based on the second reference points; the second trigger operation is an operation of clicking the second reference points;

[0105] Alternatively, in response to a third trigger operation, a target reference area containing the target object is obtained, the target object in the target reference area is identified, and a first area corresponding to the target object is determined; the third trigger operation is used to describe an operation of selecting a preset range including the target object; the first area is the surface with the largest area of the target object in the overhead view.

[0106] Based on the above embodiment, optionally, the route generation module includes a first reference body generation unit and a first route generation unit; the first reference body generation unit is used to construct a first reference body based on the first area; the first reference body is a polygon that wraps the target object; the first route generation unit is used to generate a target route for the drone to inspect the target object based on the first reference body.

[0107] Based on the above embodiment, optionally, the first reference volume generating unit is configured to:

[0108] Acquiring height information of the target without an object, determining a first translation distance based on the height information, and translating the first area upward based on the first translation distance to determine a third area;

[0109] Acquire reference position information of the plane where the bottom of the target object is located, and determine a second translation distance based on the reference position information and the position information of the first area;

[0110] A second reference body is constructed based on the first area and the third area, and the second reference body is translated downward by the second translation distance to determine a first reference body; the bottom of the first reference body and the bottom of the target object are located on the same plane.

[0111] Based on the above embodiment, optionally, the first route generating unit is configured to:

[0112] Determine a second safety distance; the second safety distance is the shortest distance from a first preset surface of the first reference body, the first preset surface being a surface of the polyhedron excluding the top and bottom surfaces of the polyhedron;

[0113] Based on the second safety distance, the edge of the second preset surface on the first reference body is extended by the second safety distance to obtain a third reference body; the second preset surface is the top surface and the bottom surface of the polyhedron;

[0114] A target route for the drone when inspecting the target object is generated based on the third reference body.

[0115] Based on the above embodiment, optionally, the first route generating unit includes a first route generating subunit:

[0116] Determine whether there is a third reference point on the third reference body; the third reference point is a point on the second preset surface of the third reference body whose distance from the fourth reference point is greater than the second safety distance; the fourth reference point is a point on the second preset surface of the first reference body whose distance from the point on the second preset surface of the third reference body is closest to the point on the second preset surface of the first reference body;

[0117] If a third reference point exists on the third reference body, a fourth reference point corresponding to the third reference point is used as a fifth reference point, and a target circular area is generated with the fifth reference point as the center and the second safety distance as the radius;

[0118] Adjusting the second preset surface of the third reference body based on the target circular area to obtain a fourth reference body;

[0119] A target route for the drone when inspecting the target object is generated based on the fourth reference body.

[0120] Based on the above embodiment, optionally, the first route generating subunit is further configured to:

[0121] The point where the target circular area intersects the edge of the second preset surface on the third reference body is used as a sixth reference point;

[0122] constructing a target arc based on the sixth reference point, and determining a start point and an end point of the target arc;

[0123] Starting from the starting point of the target arc, determining a first target distance between the starting point of the target arc and a seventh reference point; the seventh reference point is a point on the target arc excluding the starting point and the end point;

[0124] Taking the seventh reference point corresponding to the first target distance being equal to the second safety distance as the first target point, and continuing from the first target point, determining the second target distance between the first target point and an eighth reference point; the eighth reference point is a point on the target arc that has not been calculated;

[0125] The eighth reference point corresponding to the second target distance being equal to the second safety distance is used as the second target point, and the fourth reference volume is updated based on all target points until the distance between the next target point and the end point of the target arc is less than or equal to the second safety distance.

[0126] A target route for the drone to inspect the target object is generated based on the updated fourth reference body.

[0127] The device for generating a drone route provided in an embodiment of the present invention can execute the method for generating a drone route provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0128] Example 4

[0129] 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.

[0130] Figure 10 This diagram illustrates the structure of an electronic device that can be used to implement the method for generating a drone route according to an embodiment of the present invention. The term "electronic device" is intended to represent various forms of digital computers, such as laptops, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The term "electronic device" may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided for illustrative purposes only and are not intended to limit the implementation of the present inventions described and / or claimed herein.

[0131] like Figure 10 As shown, electronic device 10 includes at least one processor 11 and memory, such as read-only memory (ROM) 12 and random access memory (RAM) 13, communicatively connected to at least one processor 11. The memory stores computer programs executable by the at least one processor. Processor 11 can perform various appropriate actions and processes based on the computer programs stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of electronic device 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. An input / output (I / O) interface 15 is also connected to bus 14.

[0132] Multiple 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 disk, 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 via a computer network such as the Internet and / or various telecommunication networks.

[0133] Processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any other suitable processor, controller, microcontroller, etc. Processor 11 executes the various methods and processes described above, such as the method for generating a drone route.

[0134] In some embodiments, the method for generating a drone route can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for generating a drone route described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the method for generating a drone route via any other suitable means (e.g., via firmware).

[0135] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), 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 interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0136] 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 device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program 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.

[0137] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or apparatus. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0138] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device that has: 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types 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).

[0139] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0140] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0141] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed 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. This is not limited herein.

[0142] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for generating a drone route, characterized in that: The method comprises: Determining a target route type of a target object; the target route type is determined based on inspection characteristics of the target object; Determine a first area corresponding to the target object based on the target route type; the first area is an area generated based on a reference point or reference area on the target object; Determining a target route for the drone to inspect the target object based on the first area; The first area includes a first surface and a second surface, the first surface and the second surface of the first area are opposite to each other, and determining a target route for the drone to inspect the target object based on the first area includes: determining a target pointing direction according to a preset order, the target pointing direction corresponding to the first surface of the first area or the second surface of the first area; the preset order is the order of connecting reference points on the target object when constructing the first area; Based on the target pointing direction, a route generation area is determined; wherein the route generation area is generated on the first surface or the second surface.

2. The method according to claim 1, characterized in that Determining a route generation area based on the target pointing direction includes: If the target pointing direction is the first pointing direction, determining the surface corresponding to the first pointing direction as the first route generation area; the first pointing direction corresponds to the first surface of the first area; If the target pointing direction is the second pointing direction, the surface corresponding to the second pointing direction is flipped along the preset central axis to obtain the first route generation area; the second pointing direction corresponds to the second surface of the first area; the preset central axis is the central axis of the surface corresponding to the second pointing direction; A target route for the drone to inspect the target object is generated in the first route generation area.

3. The method according to claim 1, characterized in that If the target route type is a first route type, the route of the first route type is an open route and has a first preset shape; Accordingly, determining the first area corresponding to the target object based on the target route type includes: In response to a first trigger operation, obtaining at least a preset number of first reference points on a first preset area of the target object, and constructing a second area based on the first reference points; the first trigger operation is an operation of clicking the first reference point; the second area is a surface formed by connecting the first reference points in a preset order; Obtain angle information and a first safety distance, adjust the second area based on the angle information and the first safety distance, and obtain the first area corresponding to the target object; the angle information is used to describe the adjustment of the tilt angle and tilt orientation of the second area; the first safety distance is used to describe the shortest safety distance from the target object.

4. The method according to claim 1, wherein If the target route type is a second route type, the route of the second route type is a closed route and has a second preset shape; Accordingly, determining the first area corresponding to the target object based on the target route type includes: In response to a second trigger operation, obtaining at least a preset number of second reference points on a second preset area of the target object, and constructing the first area based on the second reference points; the second trigger operation is an operation of clicking the second reference points; Alternatively, in response to a third trigger operation, a target reference area containing the target object is obtained, the target object in the target reference area is identified, and a first area corresponding to the target object is determined; the third trigger operation is used to describe an operation of selecting a preset range including the target object; the first area is the surface with the largest area of the target object in the overhead view.

5. The method according to claim 4, characterized in that Determining a target route for the drone to inspect the target object based on the first area includes: Constructing a first reference body based on the first area; the first reference body is a polygon that wraps the target object; A target route for the drone to inspect the target object is generated based on the first reference body.

6. The method according to claim 5, characterized in that Constructing a first reference body based on the first region includes: Acquiring height information of the target without an object, determining a first translation distance based on the height information, and translating the first area upward based on the first translation distance to determine a third area; Acquire reference position information of the plane where the bottom of the target object is located, and determine a second translation distance based on the reference position information and the position information of the first area; A second reference body is constructed based on the first area and the third area, and the second reference body is translated downward by the second translation distance to determine a first reference body; the bottom of the first reference body and the bottom of the target object are located on the same plane.

7. The method according to claim 6, characterized in that Generating a target route for the drone to inspect the target object based on the first reference body includes: Determine a second safety distance; the second safety distance is the shortest distance from a first preset surface of the first reference body, the first preset surface being a surface of the polyhedron excluding the top and bottom surfaces of the polyhedron; Based on the second safety distance, the edge of the second preset surface on the first reference body is extended by the second safety distance to obtain a third reference body; the second preset surface is the top surface and the bottom surface of the polyhedron; A target route for the drone when inspecting the target object is generated based on the third reference body.

8. The method according to claim 7, characterized in that Generating a target route for the drone to inspect the target object based on the third reference body includes: Determine whether there is a third reference point on the third reference body; the third reference point is a point on the second preset surface of the third reference body whose distance from the fourth reference point is greater than the second safety distance; the fourth reference point is a point on the second preset surface of the first reference body whose distance from the point on the second preset surface of the third reference body is closest to the point on the second preset surface of the first reference body; If a third reference point exists on the third reference body, a fourth reference point corresponding to the third reference point is used as a fifth reference point, and a target circular area is generated with the fifth reference point as the center and the second safety distance as the radius; Adjusting the second preset surface of the third reference body based on the target circular area to obtain a fourth reference body; A target route for the drone when inspecting the target object is generated based on the fourth reference body.

9. The method according to claim 8, characterized in that Generating a target route for the drone to inspect the target object based on the fourth reference body includes: The point where the target circular area intersects the edge of the second preset surface on the third reference body is used as a sixth reference point; constructing a target arc based on the sixth reference point, and determining a start point and an end point of the target arc; Starting from the starting point of the target arc, determining a first target distance between the starting point of the target arc and a seventh reference point; the seventh reference point is a point on the target arc excluding the starting point and the end point; Taking the seventh reference point corresponding to the first target distance being equal to the second safety distance as the first target point, and continuing from the first target point, determining the second target distance between the first target point and an eighth reference point; the eighth reference point is a point on the target arc that has not been calculated; The eighth reference point corresponding to the second target distance being equal to the second safety distance is used as the second target point, and the fourth reference volume is updated based on all target points until the distance between the next target point and the end point of the target arc is less than or equal to the second safety distance. A target route for the drone to inspect the target object is generated based on the updated fourth reference body.

10. A device for generating a drone route, characterized in that: The device comprises: A route type determination module is used to determine a target route type of a target object; the target route type is determined based on inspection characteristics of the target object; an area determination module, configured to determine a first area corresponding to a target object based on the target route type; the first area being an area generated based on a reference point or a reference area on the target object; a route generation module, configured to determine a target route for the drone to inspect the target object based on the first area; The first area includes a first surface and a second surface, the first surface and the second surface of the first area are opposite surfaces to each other, and the route generation module includes a route generation area determination unit, the route generation area determination unit is configured to: determining a target pointing direction according to a preset order, the target pointing direction corresponding to the first surface of the first area or the second surface of the first area; the preset order is the order of connecting reference points on the target object when constructing the first area; Based on the target pointing direction, a route generation area is determined; wherein the route generation area is generated on the first surface or the second surface.

11. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed 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 method for generating a drone route according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for generating a drone route according to any one of claims 1 to 9 when executed.

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