Unmanned aerial vehicle building inspection route adjustment method and system based on wind field constraint and storage medium

Abstract

The invention discloses an unmanned aerial vehicle building inspection route adjustment method and system based on wind field constraint and a storage medium, and the method comprises the steps: carrying out the simulation calculation of a three-dimensional wind field distribution result of an outer contour model according to the outer contour model of a to-be-detected building and the meteorological data of the geographic position of the to-be-detected building; determining external wind field wind speed data of the to-be-detected building so as to obtain coordinate points of which the wind speed is greater than the maximum wind resistance speed of the unmanned aerial vehicle in the external wind speed data; determining a limited flight area with the wind speed greater than the maximum wind-resistant speed of the unmanned aerial vehicle in the three-dimensional wind field distribution result according to the coordinate points; obtaining a target waypoint falling in the limited flight area in an initial inspection route generated by the unmanned aerial vehicle for the outer contour model; and adjusting and updating the target waypoint according to the limited flight area to obtain a target inspection route. A limited flight area is generated through wind field simulation and wind resistance threshold constraint, and the waypoint position of the limited flight area is adjusted, so that the cruising stability and safety are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle route planning and building inspection, and particularly relates to an unmanned aerial vehicle building inspection route adjustment method and system based on wind field constraints and a storage medium. BACKGROUND

[0002] The current traditional unmanned aerial vehicle path planning method is based on a static environment model, and static obstacle information such as walls, tower cranes and cables around the building is obtained through a laser radar, a visual sensor or a preset map, and a passable area model of a three-dimensional space is constructed based on the static obstacle information. Subsequently, an optimal path from a starting point to an ending point is searched in the model, and a cruise route is planned based on the path.

[0003] However, there are generally local complex wind environments near the outer facade of high-rise buildings, including 'narrow pipe effect' between buildings, roof separation vortex and gust, etc., which easily lead to local wind speed exceeding the wind resistance of the unmanned aerial vehicle. The direct consequences are: increased track drift and yaw error, increased energy consumption of the unmanned aerial vehicle, shortened endurance, and in the worst case, the unmanned aerial vehicle risks approaching or colliding with the facade. The existing planning method based on static obstacles does not consider the wind field around the building as a constraint condition in the planning stage, and usually lacks a risk interval definition based on a wind speed threshold and a flight point level adjustment mechanism. Moreover, the existing real-time obstacle avoidance system of the unmanned aerial vehicle mostly only stops in response to geometric obstacles or near distance limitations, and it is difficult to avoid high-risk wind areas in a timely manner and to balance safety and operation stability.

[0004] Therefore, in view of the spatial non-uniformity and time-varying nature of the three-dimensional wind field around the building, how to introduce a constraint condition related to the wind resistance of the unmanned aerial vehicle in the planning stage and to adjust the flight points falling into the high-risk area in an executable manner is a problem to be solved by the existing technology.

[0005] The above content is only used to assist in understanding the technical solutions of the present application and does not mean that the above content is prior art. SUMMARY

[0006] The main purpose of the present application is to provide an unmanned aerial vehicle building inspection route adjustment method and system based on wind field constraints, which aims to solve the technical problem of low operation safety and stability caused by the difficulty in adjusting the flight points falling into the high-risk area.

[0007] To achieve the above-mentioned purpose, the present application provides an unmanned aerial vehicle building inspection route adjustment method based on wind field constraints, which comprises: According to the outer contour model of the building to be detected containing three-dimensional size data and the meteorological data of the geographical location of the building to be detected, the three-dimensional wind field distribution result corresponding to the outer contour model is simulated and calculated. determine external wind field wind speed data of the outer contour model based on the three-dimensional wind field distribution result, and obtain a coordinate point in the external wind field wind speed data where a wind speed is greater than a maximum wind resistance speed of the UAV; determine a flight limiting area in the three-dimensional wind field distribution result where a wind speed is greater than the maximum wind resistance speed of the UAV according to the coordinate point; obtain a target waypoint in an initial inspection flight route generated by the UAV for the outer contour model, which falls in the flight limiting area; adjust and update the target waypoint according to the flight limiting area to obtain a target inspection flight route.

[0008] In an embodiment, the step of obtaining the target waypoint in the initial inspection flight route generated by the UAV for the outer contour model, which falls in the flight limiting area, comprises: traverse a waypoint set of the initial inspection flight route, determine waypoint coordinates corresponding to the waypoint set, and determine area range coordinates of the flight limiting area according to a simulation calculation result; determine the target waypoint falling in the flight limiting area according to the waypoint coordinates and the area range coordinates.

[0009] In an embodiment, the step of adjusting and updating the target waypoint according to the flight limiting area to obtain a target inspection flight route comprises: calculate a boundary safety point closest to each target waypoint in a horizontal plane outside the flight limiting area; update the waypoint coordinates corresponding to the target waypoint based on the coordinates of the boundary safety point; update a local flight route according to the positions between the updated target waypoints to obtain the target inspection flight route.

[0010] In an embodiment, the step of calculating the boundary safety point closest to each target waypoint outside the flight limiting area comprises: determine a minimum distance required for the coordinates of the target waypoint to leave the flight limiting area; set a position corresponding to the minimum distance as the boundary safety point.

[0011] In an embodiment, after the step of obtaining the target waypoint in the initial inspection flight route generated by the UAV for the outer contour model, which falls in the flight limiting area, the wind field constraint based UAV building inspection flight route adjustment method further comprises: select multiple elevation layers in the flight limiting area where the target waypoint exists; slice the three-dimensional wind field distribution result based on the elevation layer to obtain a two-dimensional wind field restricted area in a horizontal plane, a wind speed of the two-dimensional wind field restricted area being greater than the maximum wind resistance speed, a slicing direction being a vertical gravity direction, and a slicing position corresponding to an elevation of a waypoint of the initial inspection flight route; superimpose a building facade contour corresponding to the outer contour model on the horizontal plane to obtain a visualization result of the restricted flight area in an elevation direction.

[0012] In an embodiment, after the step of adjusting the target waypoint based on the restricted flight area, the method for adjusting a building inspection flight route of a UAV based on wind field constraints further comprises: determining an initial UAV lens holder orientation corresponding to the target waypoint before the target waypoint is updated, and calculating a photographing center point based on an intersection of the initial UAV lens holder orientation and the surface of the building to be detected; updating a lens holder attitude parameter corresponding to the target waypoint based on the photographing center point; generating an inspection flight route executable by the UAV based on the target inspection flight route.

[0013] In an embodiment, before the step of simulating and calculating a three-dimensional wind field distribution result corresponding to the outer contour model of the building to be detected based on meteorological data of a geographical location of the building to be detected, the method for adjusting a building inspection flight route of a UAV based on wind field constraints further comprises: generating the outer contour model based on a three-dimensional reconstruction result or a building information model of the building to be detected, and uniformly registering the outer contour model with a preset coordinate system for wind field simulation; obtaining preset task parameters of the UAV, and generating the initial inspection flight route on the outer contour model, the preset task parameters at least including a coverage area, a photographing distance and a view angle constraint, an expected surface resolution and an overlap rate.

[0014] In an embodiment, after the step of determining a restricted flight area in the three-dimensional wind field distribution result based on the coordinate point, the method for adjusting a building inspection flight route of a UAV based on wind field constraints further comprises: obtaining a local flight route segment of the initial inspection flight route falling in the restricted flight area; projecting a waypoint in the local flight route segment to a target boundary safety point of the restricted flight area, and generating a target local flight route segment based on a minimum retreat distance; splicing the target local flight route segment and an original flight route segment not affected to obtain the target inspection flight route.

[0015] In addition, to achieve the above objectives, this application also proposes a flight path adjustment system, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the wind field-constrained UAV building inspection flight path adjustment method described above.

[0016] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the above-described method for adjusting the flight path of a UAV building inspection based on wind field constraints.

[0017] One or more technical solutions proposed in this application have at least the following technical effects: First, the three-dimensional wind field distribution is simulated and calculated based on the outer contour model of the building to be inspected and the meteorological data of its geographical location. Then, the coordinates of the wind speeds in the external wind field data that are greater than the maximum wind resistance speed of the UAV are determined to clarify the restricted flight area. Then, the target waypoints in the initial inspection route that fall within the restricted area are obtained and adjusted and updated to obtain the target inspection route. This effectively solves the flight safety risks and inspection mission interruption problems that UAVs may face when encountering wind fields that exceed their maximum wind resistance capacity during building inspection. It can ensure that the UAV completes the inspection within a safe range that meets its own wind resistance capacity, ensuring the stability and continuity of the inspection process and improving the reliability of UAV building inspection. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the first embodiment of the UAV building inspection route adjustment method based on wind field constraints provided in this application. Figure 2A This is a schematic diagram of the outer contour model and initial inspection route of the building to be inspected in this application from a three-dimensional perspective; Figure 2B This is a top-down view of the building to be inspected and a schematic diagram of the initial inspection route. Figure 2CA schematic diagram of a flight restricted area under a top-down view of the building to be detected in the present application; Figure 3 A schematic diagram of a three-dimensional wind field corresponding to the building to be detected in the present application; Figure 4 A schematic diagram of a flight restricted area where the wind speed around the building to be detected exceeds the maximum wind resistance speed; Figure 5A A schematic diagram of a target inspection route after route adjustment under a three-dimensional view of the building to be detected in the present application; Figure 5B A schematic diagram of a target inspection route after route adjustment under a top-down view of the building to be detected in the present application; Figure 6 A schematic diagram of a process provided by the second embodiment of the method for adjusting the building inspection route of a UAV based on wind field constraints in the present application; Figure 7 A schematic diagram of a process provided by the third embodiment of the method for adjusting the building inspection route of a UAV based on wind field constraints in the present application; Figure 8 A schematic diagram of a process provided by the fourth embodiment of the method for adjusting the building inspection route of a UAV based on wind field constraints in the present application; Figure 9 A schematic diagram of direction adjustment of a target waypoint requiring inspection direction adjustment under a top-down view in the method for adjusting the building inspection route of a UAV based on wind field constraints in the present application; Figure 10 A schematic diagram of a device structure of a hardware operating environment involved in the method for adjusting the building inspection route of a UAV based on wind field constraints in the embodiments of the present application.

[0021] The object implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0022] It should be understood that the specific embodiments described herein are merely intended to explain the technical solutions of the present application, and are not intended to limit the present application.

[0023] Currently, the traditional UAV path planning method is based on a static environment model, and the static obstacle information around the building, such as walls, tower cranes and cables, is obtained through a laser radar, a visual sensor or a preset map, and a passable area model of a three-dimensional space is then constructed based on these static obstacle information. Subsequently, the optimal path from the starting point to the ending point is searched in the model, and the cruise route is planned based on these paths.

[0024] However, complex local wind environments are common near the facades of high-rise buildings, including the "tunneling effect" between buildings, roof separation vortices, and gusts, which can easily cause local wind speeds to exceed the wind resistance capabilities of drones. The direct consequences are increased flight path drift and yaw errors, increased drone energy consumption, shortened flight range, and, in the worst case, the risk of close encounters or collisions with the facade. Existing planning methods based on static obstacles do not include the wind field around buildings as a mandatory constraint in the planning stage, and typically lack risk zone definitions based on wind speed thresholds and waypoint-level adjustment mechanisms. Even with online obstacle avoidance, most methods only react to geometric obstacles or nearby distance measurements, making it difficult to avoid high-risk wind areas in a timely manner and to balance safety and operational stability.

[0025] Furthermore, gusts in complex wind fields often bring sudden changes in wind speed. These changes can cause drones to be subjected to instantaneous impact forces, deviating from their planned flight paths. In severe cases, this can even lead to collisions between the drone and buildings or other obstacles, resulting in damage to the drone and interruption of the inspection mission, making it impossible to obtain complete and accurate building information.

[0026] Meanwhile, in strong winds, drones need to expend additional power to combat the wind in order to maintain flight stability. This significantly increases their energy consumption, leading to a decrease in their endurance. For large construction projects requiring long-distance, long-duration inspections, drones may need to frequently return to recharge due to excessive energy consumption, greatly reducing inspection efficiency. Furthermore, due to the unique terrain or building distribution and shape in cities, significant turbulence may occur around buildings. In turbulent areas, the aerodynamic forces and torques acting on drones exhibit complex and irregular changes, making it difficult to maintain stable flight attitude control and threatening flight safety.

[0027] Therefore, given the spatial non-uniformity and time-varying nature of the three-dimensional wind field around buildings, how to introduce constraints related to the wind resistance performance of UAVs during the planning stage, and how to make feasible adjustments to waypoints that fall into high-risk areas, are problems that existing technologies urgently need to solve.

[0028] Based on this, the main solution of this application embodiment is: based on the outer contour model of the building to be detected containing three-dimensional size data and the meteorological data of the geographical location of the building to be detected, the three-dimensional wind field distribution result corresponding to the outer contour model is simulated and calculated. Based on the three-dimensional wind field distribution results, the external wind field speed data of the outer contour model is determined, and the coordinates of the external wind field speed data where the wind speed is greater than the maximum wind resistance speed of the UAV are obtained. Based on the coordinate points, determine the restricted flight area in the three-dimensional wind field distribution results where the wind speed is greater than the maximum wind resistance speed of the UAV; acquire target waypoints in the initial inspection route generated by the UAV according to the outer contour model and falling in the restricted flight region; adjust and update the target waypoints according to the restricted flight region to obtain a target inspection route.

[0029] Specifically, the three-dimensional wind field distribution result is simulated and calculated according to the outer contour model of the building to be detected and the meteorological data of the geographical location, and then the coordinate points with wind speed greater than the maximum wind resistance speed of the UAV in the external wind field wind speed data are determined to determine the restricted flight region. Then, the target waypoints in the initial inspection route falling in the restricted region are acquired, and the target inspection route is obtained by adjusting and updating the target waypoints. The flight safety risk and interruption of the inspection task of the UAV when the UAV encounters a wind field exceeding the maximum wind resistance capability of the UAV during building inspection are effectively solved. The UAV can complete the inspection within the safe range of the wind resistance capability, and the stability and continuity of the inspection process are ensured, and the reliability of the UAV building inspection is improved.

[0030] It should be noted that the execution subject of the embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a route adjustment system, etc. capable of realizing the above functions. The following will take the route adjustment system as an example to describe the embodiment and the following embodiments.

[0031] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings of the specification and specific embodiments.

[0032] Based on this, the embodiment of the present application provides a UAV building inspection route adjustment method based on wind field constraint, which is described with reference to Figure 1 , Figure 1 The flowchart of the first embodiment of the UAV building inspection route adjustment method based on wind field constraint of the present application is shown.

[0033] In the embodiment, the UAV building inspection route adjustment method based on wind field constraint includes steps S10-S50: Step S10, according to the outer contour model of the building to be detected containing three-dimensional size data and the meteorological data of the geographical location of the building to be detected, the three-dimensional wind field distribution result corresponding to the outer contour model is simulated and calculated.

[0034] It should be noted that the outer contour model of the building to be detected can be obtained by a digital model containing three-dimensional dimensions, shapes and other information of each part of the building through three-dimensional scanning, BIM modeling and other technologies. The meteorological data refers to the wind speed, wind direction, air pressure and other wind-related meteorological parameter data of the geographical location of the building to be detected. The three-dimensional wind field distribution result is obtained by solving the Navier-Stokes equation, combining the three-dimensional geometric model of the target building and its surrounding terrain and obstacles and the meteorological boundary condition, and obtaining the distribution of physical quantities such as wind speed, wind direction, turbulent kinetic energy and turbulent intensity in three-dimensional space around the building. The building to be detected is the target object of the unmanned aerial vehicle inspection, wherein the building to be detected includes but is not limited to a single building, a local area of a building group, multiple buildings adjacent to but not connected, or any combination of the above objects, which is not limited in the embodiment.

[0035] In the embodiment, as an optional implementation of the simulation of the three-dimensional wind field distribution result, the target building can be photographed by the unmanned aerial vehicle at multiple angles to obtain image data, and the image is processed by using three-dimensional reconstruction software to generate an outer contour geometric model of the building to be detected. At the same time, the meteorological data of the location can be obtained through the surrounding meteorological station, meteorological data platform or environmental monitoring sensor near the building. Then, the outer contour model and the meteorological boundary condition are input into the wind field simulation software such as CFD software for numerical calculation to obtain the three-dimensional wind field distribution result. The constructed three-dimensional wind field distribution result is aligned with the outer contour model of the building to be detected in a unified coordinate system.

[0036] Alternatively, in another implementation of simulating and calculating the three-dimensional wind field distribution result, the building to be detected can be scanned by a three-dimensional laser scanner to obtain point cloud data, and then the point cloud data is converted into an outer contour model by using point cloud processing software. The shape data of the building can be accurately obtained by three-dimensional laser scanning, which provides an accurate geometric basis for subsequent wind field simulation. At the same time, the historical and real-time meteorological data of the location of the building is obtained through the meteorological station or meteorological data platform, thereby providing initial conditions and boundary conditions for wind field simulation.

[0037] After the data preprocessing is completed, the outer contour model and the meteorological data are input into the computational fluid dynamics CFD software, and simulation parameters such as boundary conditions, grid division and the like are set in the software to perform simulation calculation, and the three-dimensional wind field distribution result W(x, y, z) is obtained. It can be understood that the CFD software calculates based on the fluid mechanics equation, and can simulate the wind speed around the building.

[0038] The embodiment provides a basic wind field framework for subsequent route processing and correction by constructing a three-dimensional wind field distribution result, and improves the accuracy of subsequent route risk identification and route adjustment by simulating the wind field distribution.

[0039] In step S20, external wind field wind speed data of the external contour model is determined based on the three-dimensional wind field distribution result, and a coordinate point with a wind speed greater than a maximum wind resistance speed of the unmanned aerial vehicle in the external wind field wind speed data is obtained.

[0040] The external wind field wind speed data refers to three-dimensional data that can intuitively show the wind field condition around the external contour of the building by combining the three-dimensional wind field distribution result with the external contour model and presenting the three-dimensional data by a visualization technology. The maximum wind resistance speed of the unmanned aerial vehicle refers to a highest wind speed threshold value at which the unmanned aerial vehicle can keep stable flight or hovering under external wind field conditions. The parameter directly determines the safety and reliability of the unmanned aerial vehicle in a complex meteorological environment.

[0041] In the embodiment, a spatial position point with a wind speed value exceeding the maximum wind resistance speed that can be borne by the unmanned aerial vehicle needs to be determined in the external wind field wind speed data. As an optional implementation manner, the three-dimensional wind field distribution result can be imported into three-dimensional visualization software, superimposed and fused with the external contour model, the external wind field wind speed data is generated, and then the coordinate position with a wind speed greater than the threshold value is found out and recorded based on the wind speed threshold value set in advance by the software, so that the coordinate point is obtained. The wind speed threshold value is the maximum wind resistance speed of the unmanned aerial vehicle, and the threshold value is usually set in the data processing stage. For example, the maximum wind resistance speed of the unmanned aerial vehicle is 12 m / s, and at this time, a plurality of coordinate points with a wind speed exceeding 12 m / s at the top and periphery of the building are filtered out by the software.

[0042] Alternatively, in order to balance the inspection safety and inspection efficiency, the unmanned aerial vehicle also sets a safety coefficient k based on the maximum wind resistance speed, and the coordinate position is determined by the safety coefficient k and the maximum wind resistance speed. It can be understood that the safety coefficient k is a coefficient greater than or equal to 1 set to ensure the flight safety of the unmanned aerial vehicle, and is used to increase the safety redundancy on the basis of the maximum wind resistance speed of the unmanned aerial vehicle. The greater the value of k is, the higher the safety redundancy is. Therefore, the coordinate position with a wind speed greater than the product of the maximum wind resistance speed of the unmanned aerial vehicle and the safety coefficient in the external wind field wind speed data can also be obtained, so as to determine the flight limiting area based on the coordinate.

[0043] In step S30, a flight limiting area with a wind speed greater than the maximum wind resistance speed of the unmanned aerial vehicle in the three-dimensional wind field distribution result is determined according to the coordinate point.

[0044] In this embodiment, based on three-dimensional modeling software, the coordinate points are taken as vertices to construct three-dimensional mesh surfaces, and through the connection and extension of the mesh surfaces, a three-dimensional model of the flight restricted area is formed, and attribute information is set in the model, such as the area type being a flight restricted area, so as to facilitate the rapid identification of the area in subsequent route planning.

[0045] Alternatively, the obtained coordinate points can be imported into a geographic information system (GIS), and through the spatial analysis function of the GIS software, the coordinate points are connected to form a closed polygon or polyhedron to determine the boundary of the flight restricted area, and then the area is marked and attribute defined to indicate that it is a flight restricted area and the corresponding wind speed range, so as to facilitate subsequent identification and processing of the area.

[0046] Further, the flight restricted area can also be determined by a calculation expression. Specifically, the formula for determining the flight restricted area based on the maximum wind resistance speed and the safety factor is as follows:

[0047] wherein p is any coordinate point in the three-dimensional space, v(p) represents the wind speed at the coordinate point p, i.e., the wind speed value corresponding to the position in the three-dimensional wind field distribution result, reflecting the flow speed of the wind at the spatial point p, k is the safety factor, and k≥1, V max is the maximum wind resistance speed. Through the current expression, the spatial position set in which all wind speeds exceed the product of k and V max can be accurately defined, thereby clearly defining the flight restricted area of the unmanned aerial vehicle.

[0048] Step S40, obtaining a target waypoint in the initial inspection route generated by the unmanned aerial vehicle for the outer contour model and falling in the flight restricted area.

[0049] The initial route is a flight path pre-planned by the unmanned aerial vehicle according to the outer contour model of the building to be detected, and the path is a path in a simulated scenario. The target waypoint is a specific point in the initial inspection route falling in the flight restricted area. In addition to the waypoints, the initial inspection route also includes the initial unmanned aerial vehicle lens holder orientation corresponding to each waypoint, i.e., the shooting position to which the unmanned aerial vehicle should face at each waypoint.

[0050] In this embodiment, a pre-compiled algorithm can be calculated to compare each waypoint coordinate in the waypoint list with the boundary coordinate of the flight restricted area to determine whether the waypoint is in the flight restricted area, thereby screening out the target waypoint.

[0051] Alternatively, the initial inspection route data can also be imported into a route planning software to find out the target waypoint falling in the flight restricted area through the spatial matching function of the software.

[0052] Step S50: Adjust and update the target waypoints according to the restricted flight area to obtain the target inspection route.

[0053] The target inspection route refers to the drone inspection route that has been adjusted and updated to avoid restricted flight areas. This route is still the route under the simulated scenario.

[0054] In this embodiment, the target waypoint can be automatically adjusted in the route planning software based on the location and extent of the restricted flight area. This includes moving the target waypoint a certain distance outside the restricted flight area to re-plan the target waypoint, and finally splicing the old and new routes to obtain the target inspection route. The distance the target waypoint is moved outside the restricted flight area can be a preset distance or a distance calculated based on the actual restricted flight area, including the shortest distance required for the target waypoint to leave the restricted flight area, thereby updating the target waypoint position based on the shortest distance. After the target waypoint position is moved, its latitude and longitude coordinates in space change accordingly.

[0055] For example, to aid in understanding the content described in the first embodiment of this application, the three-dimensional view and top view of the outer contour model of the building to be inspected are as follows: Figure 2A and Figure 2B As shown, initial inspection routes are constructed based on the building to be inspected, both from a 3D perspective and a top-down perspective. Under experimental conditions, assuming no wind, the UAV can perform the inspection task normally when inspecting based on the initial inspection route. However, in a real environment, wind fields around the building can interfere with the inspection. Therefore, it is necessary to construct a more advanced inspection route. Figure 3 The three-dimensional wind field distribution of the building to be tested is shown, which allows for adjustments to flight routes or waypoints based on the actual wind field information. Figure 3 This is a top-down view of the simulation results of the wind field around the building, where Velocity Contour refers to the wind speed distribution. The values ​​in the figure are expressed in scientific notation, 1.841e+01= 18.41 m / s, corresponding to the red area, the highest wind speed; 1.675e+01=16.75 m / s; 1.473e+01=14.73 m / s; 1.289e+01=12.89 m / s; 1.105e+01=11.05 m / s; 9.207e+00=9.207 m / s; 7.365e+00=7.365 m / s; 5.524e+00=5.524 m / s, 3.683e+00=3.683 m / s, 1.841e+00=1.841 m / s, 0.000e+00=0 m / s, corresponding to the dark blue area, the lowest wind speed. Figure 3 The two blue rectangles in the image correspond to Figure 2A or Figure 2B Building models in the image. Based onFigure 3 As shown in the wind field, it can be determined that the airflow is blocked between the two buildings, the flow cross-section is reduced, and the airflow is accelerated, corresponding to the orange and yellow areas, and there is also a larger wind speed area outside the building.

[0056] Further, based on the maximum wind resistance speed, the Figure 3 As shown in the three-dimensional wind field, the building to be detected is combined, so that the points with wind speed greater than the threshold are marked as high-risk areas, i.e., flight-restricted areas, as shown in Figure 2C The flight-restricted area is shown in the overhead view. Then, the height layers where the waypoints exist are sliced, the wind speed points exceeding the threshold are extracted, and the building facade profile is superimposed on the X-Z plane, so that the high-risk area is visualized, as shown in Figure 4 The high-risk area visualization result of the wind speed around the building to be detected exceeding the maximum wind resistance speed 12 m / s is shown. Finally, the points in the initial flight path of the UAV falling in these areas are calculated, and then the positions of these areas are adjusted, as shown in Figure 5A and Figure 5B As shown in the three-dimensional view and the overhead view, the adjusted target inspection flight path is shown. In this way, the high-risk areas are effectively avoided, and the safety of the UAV inspection is improved.

[0057] It should be noted that the above parameters are only used for explanation and are not limited to the present application.

[0058] The embodiment provides a UAV building inspection flight path adjustment method based on a wind field constraint. By constructing a three-dimensional wind field distribution result, a wind field condition around a building to be detected is given, so as to identify a flight-restricted area with excessive wind speed and a target waypoint falling in the flight-restricted area based on the wind field condition, and finally move the target waypoint out of the flight-restricted area, and adjust the target inspection flight path based on the moved target waypoint. Based on this, the strong wind area that the UAV cannot withstand is effectively avoided, the flight safety of the UAV in the building inspection process is ensured, the interruption or accident of the inspection caused by the wind field problem is reduced, the inspection task is ensured to be completed comprehensively and efficiently, and the overall performance and practicality of the UAV building inspection are improved.

[0059] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above first embodiment can refer to the above introduction, and will not be repeated hereinafter. On this basis, please refer to Figure 6 , step S40 includes steps S41-S42: Step S41, traversing the waypoint set of the initial inspection flight path, determining the waypoint coordinates corresponding to the waypoint set, and determining the region range coordinates of the flight-restricted area according to the simulation calculation result.

[0060] In the embodiment, based on a preset algorithm or script, a set of waypoints of the initial inspection route is traversed to determine the coordinates of each waypoint of the initial inspection route. Meanwhile, according to the previous simulation calculation result, the range coordinates of the restricted flight region are determined, so as to screen the target waypoints according to the range coordinates.

[0061] In step S42, the target waypoints falling in the restricted flight region are determined according to the waypoint coordinates and the range coordinates.

[0062] In the embodiment, after the set P of waypoints of the initial inspection route L0 and the waypoint coordinates of each waypoint thereof are obtained in the unified coordinate system, the set P and the restricted flight region R are subjected to set inclusion determination, so as to obtain the subset of target waypoints, i.e., P R ={p∈P|p∈R}, wherein p is a target waypoint, P is a set of waypoints, and R is a set of coordinates of the restricted flight region.

[0063] In the embodiment, the set of waypoints and the coordinate points of the restricted flight region are matched by traversing the set of waypoints, so as to accurately know the waypoints falling in the restricted flight region, thereby improving the accuracy of target inspection route adjustment based on the target waypoints.

[0064] Based on the second embodiment, in the third embodiment of the present application, please refer to Figure 7 , step S50 further includes steps S51-S52: In step S51, the distance closest boundary safety point between each target waypoint and the horizontal plane outside the restricted flight region is calculated.

[0065] In the embodiment, each target waypoint is usually uniquely corresponding to a boundary safety point, that is, after one target waypoint selects the corresponding boundary safety point, other target waypoints will not select the boundary point even if the distance is the most suitable. Alternatively, multiple target waypoints can correspond to one same boundary safety point.

[0066] Specifically, in the process of calculating the boundary safety point, the minimum distance required for the coordinates of the target waypoint to leave the restricted flight region in a horizontal plane can be determined, and then the position corresponding to the minimum distance is set as the boundary safety point. The minimum distance is the Euclidean distance.

[0067] For example, in the unified coordinate system, for each waypoint p in the target waypoint subset P R , the point q on the boundary R of the restricted flight region closest to p in the Euclidean distance is calculated, and then the retreat direction n=normalize(q-p) is taken, the boundary safety point p'=q+di·n is obtained according to the minimum retreat distance di(di>0), and p' p' R.

[0068] Step S52, updating the waypoint coordinates corresponding to the target waypoint based on the coordinates of the boundary safety point.

[0069] After obtaining the convenient safety point, the coordinates of the convenient safety point can be set as the new coordinates of the target waypoint. The updated waypoint is connected with the previous adjacent waypoint.

[0070] Step S53, updating the local flight path according to the position between the updated target waypoints to obtain the target inspection flight path.

[0071] For example, after replacing the original waypoint p with p', the affected local flight path segment is curve smoothed and reconstructed under the premise of ensuring communication with the adjacent waypoint, to obtain the updated inspection flight path segment. Finally, the updated segments are integrated into the initial inspection flight path to form the target inspection flight path L*.

[0072] In this embodiment, the Euclidean distance of the boundary point closest to the target waypoint outside the restricted flight area is calculated, and then the actual position required for adjustment is calculated based on the Euclidean distance and the retreat direction, so as to ensure that the new waypoint avoids the risk area and is as close as possible to the original waypoint position, reduces the impact on the overall inspection range, keeps the flight path smooth and coherent, reduces unnecessary turns and adjustments during the flight of the unmanned aerial vehicle, reduces energy consumption, ensures complete inspection coverage of the building, and thus ensures safety, efficiency and accuracy of the inspection, and makes the target inspection flight path more in line with the actual inspection requirements.

[0073] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as the above first embodiment can be referred to the above introduction, and will not be described in detail. On this basis, please refer to Figure 8 After step S40, the height layers where the waypoints exist, i.e. the elevation direction, are sliced, the two-dimensional cross-section scattered points where the wind speed exceeds the threshold value are extracted, and the building facade contour is superimposed on the X-Z plane to realize Figure 4 The high-risk area visualization as shown. Therefore, the unmanned aerial vehicle building inspection flight path adjustment method based on wind field constraint further includes steps S60-S80: Step S60, selecting a plurality of elevation layers in the restricted flight area where the target waypoint exists.

[0074] In this embodiment, the elevation layer refers to a virtual layer parallel to the horizontal plane divided according to a certain height interval in the vertical direction to the ground, i.e. the elevation direction, which usually corresponds to the Z axis in the three-dimensional coordinate system. The elevation layer where the target waypoint exists refers to a specific height layer where the target waypoint in the initial unmanned aerial vehicle inspection flight path is located in the restricted flight area.

[0075] Specifically, from the three-dimensional coordinates (x, y, z) of all target waypoints, values of different z values are screened out, each independent z value corresponds to an elevation layer, and finally a plurality of elevation layers are obtained.

[0076] For example, the target waypoints are distributed at heights of 15m, 30m, 45m and 60m, and 15m, 30m, 45m and 60m are selected as four elevation layers to determine whether the waypoints are in the restricted area.

[0077] It should be noted that the above parameters are only used for explanation and do not limit the present application.

[0078] Step S70, slice the three-dimensional wind field distribution result based on the elevation layer to obtain a two-dimensional wind field restricted area in the horizontal plane.

[0079] The wind speed of the two-dimensional wind field restricted area is greater than the maximum wind resistance speed, the slicing direction is perpendicular to the gravity direction, and the slicing position corresponds to the waypoint elevation layer of the initial inspection route.

[0080] In this embodiment, slicing refers to intercepting a plane at a specified elevation layer in a three-dimensional model along a specific direction to obtain two-dimensional data of the plane; the two-dimensional wind field restricted area refers to an area on the horizontal plane after slicing, in which the wind speed is greater than the maximum wind resistance speed of the unmanned aerial vehicle.

[0081] As an optional implementation, after importing the three-dimensional wind field distribution result W(x, y, z), the system automatically intercepts a plane at the corresponding elevation layer and extracts all coordinate points (x, y) in the plane with wind speed greater than the maximum wind resistance speed, and connects these points to form a closed area, i.e. a two-dimensional wind field restricted area.

[0082] For example, the calculation formula of the two-dimensional wind field restricted area is as follows: .

[0083] Wherein, Rz i is the two-dimensional restricted flight area at height z i , (x, y) is the spatial coordinate on the horizontal plane, v(x, y, z) is the wind speed of the coordinate (x, y) point at height z i , and k·V max is the wind speed threshold after safety correction.

[0084] Step S80, superimpose the building facade contour corresponding to the outer contour model on the horizontal plane to obtain a visualization result of the restricted flight area in the elevation direction.

[0085] The building facade outline here refers to the side projection outline of the building's outer contour model at that height on a horizontal plane, reflecting the horizontal cross-sectional shape of the building at that height. The visualization result refers to the image formed by overlaying the two-dimensional wind field restriction area with the building facade outline, which can intuitively show the relative positional relationship between the high-risk wind field area (i.e., the restricted flight area) and the building at that elevation level. The building facade outline diagram can be extracted from the outer contour model of the building to be detected.

[0086] Specifically, image overlay software can be used to first import a two-dimensional wind field constraint area image, then import the building facade outline vector map corresponding to that elevation level, and adjust the spatial coordinates of the two to achieve the desired result. Figure 4 The diagram shows the building to be tested in the flight zone where the wind speed exceeds the maximum wind resistance speed limit.

[0087] This embodiment provides a method for adjusting the flight path of UAV building inspection based on wind field constraints. It accurately extracts and visualizes the relationship between high-risk wind field areas and building facades at different elevation levels, allowing users to intuitively observe the specific location and range of wind field areas to be avoided relative to buildings at each elevation level. This provides more detailed spatial reference for targeted adjustment of target waypoints at different elevations, further improving the accuracy and safety of flight path adjustments.

[0088] Based on the first embodiment of this application, in the fifth embodiment of this application, the same or similar content as the first embodiment can be referred to the above description, and will not be repeated hereafter. On this basis, when the target waypoint falls into a restricted flight area, the waypoint is moved to the nearest safe boundary point within the elevation plane, thereby updating the waypoint's longitude and latitude coordinates. After updating the waypoint's longitude and latitude coordinates and obtaining the target inspection route based on the new coordinates, it is also necessary to update the heading corresponding to the target inspection route according to the original waypoint's orientation, thereby ensuring that the UAV camera is aligned with the elevation and that the captured content is consistent with the content before the route adjustment. Therefore, after step S50, steps S90~110 are also included: Step S90: Determine the initial UAV lens gimbal orientation before the target waypoint is updated, and calculate the shooting center point based on the intersection of the initial UAV lens gimbal orientation and the surface of the building to be detected.

[0089] In this embodiment, the gimbal orientation of the UAV lens before the target waypoint update can be obtained directly from the initial inspection route, and the intersection of this orientation and the surface of the building to be inspected can also be obtained. The gimbal orientation can include the shooting direction corresponding to the pitch angle, yaw angle, and roll angle of the UAV lens gimbal before the target waypoint update.

[0090] After the intersection point and the orientation of the holder are acquired, the shooting center point is calculated based on the initial orientation and the position of the intersection point, that is, the position of the center point that needs to be shot, so as to update the orientation of the target waypoint according to the position.

[0091] In step S100, the lens holder attitude parameter corresponding to the target waypoint is updated based on the shooting center point.

[0092] In this embodiment, the spatial vector between the three-dimensional coordinates of the shooting center point and the position of the updated target waypoint can be calculated to determine the lens holder attitude parameter that needs to be adjusted by the unmanned aerial vehicle, that is, the new pitch angle and yaw angle required by the lens holder are calculated according to the new waypoint position and the shooting center point, so as to ensure that the lens of the unmanned aerial vehicle accurately points to the shooting center point when the unmanned aerial vehicle performs a task based on the newly generated flight path segment, and the correctness of the shooting direction is ensured.

[0093] For example, the initial inspection flight path in the top view is changed from the flight path shown in Figure 2B to the flight path shown in Figure 5B Based on the target inspection flight path shown in Figure 5B , please refer to Figure 9 , Figure 9 for the schematic diagram of the waypoints of the target inspection flight path in a certain horizontal plane. At this time, the corresponding unmanned aerial vehicle lens holder attitude parameter needs to be adjusted according to the changed waypoints, so that the shooting direction of the unmanned aerial vehicle lens on the new waypoints changes synchronously, and the accuracy of the image acquisition area is ensured.

[0094] In step S110, the inspection flight path executable by the unmanned aerial vehicle is generated based on the target inspection flight path.

[0095] In this embodiment, after the lens holder attitude parameter corresponding to the target waypoint is updated, the executable inspection flight path of the unmanned aerial vehicle can be generated based on the target inspection flight path, that is, the executable flight path in the real world. So that when the unmanned aerial vehicle performs an inspection task based on the executable flight path in the real world, it can be prepared to avoid areas with high wind speed, thereby improving the safety of the unmanned aerial vehicle inspection.

[0096] Based on the first embodiment of the present application, in the sixth embodiment of the present application, before step S10, steps S01-S02 are further included: In step S01, the outer contour model is generated based on the three-dimensional reconstruction result or building information model of the building to be detected, and the outer contour model is uniformly registered with the preset coordinate system used for wind field simulation.

[0097] In the embodiment, the outer contour model of the building to be detected is obtained by three-dimensional scanning, BIM modeling and other technologies, and is a digital model containing three-dimensional dimensions and shapes of each part of the building. Specifically, the three-dimensional reconstruction result can be obtained by three-dimensional modeling of the building through photogrammetry, laser scanning and other technologies, and then the outer contour model is generated based on the three-dimensional reconstruction result or the building information model.

[0098] Specifically, when the outer contour model is generated based on the three-dimensional reconstruction result, the image data obtained by the tilt photography of the unmanned aerial vehicle is processed to generate a point cloud model, and then the point cloud filtering and simplification algorithm is used to extract the outer contour features of the building to construct the outer contour model.

[0099] Alternatively, when the outer contour model is generated based on the building information model, the geometric model data of the building can be exported from the BIM software, and the non-outer contour structure is removed by a model simplification tool to generate the outer contour model.

[0100] After the outer contour model is generated, the outer contour model and the preset coordinate system used in the wind field simulation are uniformly registered, so that the building facade contour corresponding to the outer contour model is superimposed on the horizontal plane in the subsequent process to obtain an accurate visualization result.

[0101] In step S02, preset task parameters of the unmanned aerial vehicle are obtained, and an initial inspection route is generated on the outer contour model.

[0102] In the embodiment, the preset task parameters at least include a coverage area, a shooting distance and a view angle constraint, an expected surface resolution and an overlap rate. Through the preset task parameters, the initial inspection route is automatically generated on the outer contour model. Figure 2A- Figure 2B

[0103] Based on the first embodiment of the present application, in the sixth embodiment of the present application, in addition to updating the target waypoints falling in the restricted flight area, so as to adjust the target inspection route based on the updated target waypoints, the local route falling in the restricted flight area can also be updated, so as to obtain the target inspection route. Therefore, after step S30, it further includes: obtaining a local route segment in the initial inspection route falling in the restricted flight area, projecting the waypoints in the local route segment to the boundary safety points of the restricted flight area, and generating a target local route segment according to the minimum retreat distance; splicing the target local route segment and the original route segment not affected to obtain the target inspection route.

[0104] In the embodiment, the route adjustment system can automatically change the projection position of the local route segment, and splice it with the original segment after the position of the local route segment is changed, so as to obtain the target inspection route.

[0105] ​The application provides a route adjustment system, comprising: at least one processor; and a memory connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the wind field constraint based route adjustment method for unmanned aerial vehicle building inspection in the first embodiment.

[0106] Reference will be made to the following Figure 10 , which shows a structural schematic diagram of a route adjustment system suitable for implementing embodiments of the application. Figure 10 The route adjustment system shown is merely an example and should not impose any limitation on the functions and use range of embodiments of the application.

[0107] As Figure 10 shown, the route adjustment system can include a processing device 1001 (for example, a central processor, a graphics processor, etc.), which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 1002 or loaded from a storage device 1003 to a random access memory (RAM) 1004. In the random access memory 1004, various programs and data required for operation of the route adjustment system are also stored. The processing device 1001, the read-only memory 1002 and the random access memory 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication devices 1009 can allow the route adjustment system to communicate with other devices wirelessly or by wire to exchange data. Although the route adjustment system with various systems is shown in the figure, it should be understood that all the systems shown are not required to be implemented or possessed. More or fewer systems can be alternatively implemented or possessed.

[0108] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for executing the method shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network through a communication device, or installed from the storage device 1003, or installed from the read-only memory 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiments disclosed in the present application are executed.

[0109] The route adjustment system provided by the present application adopts the unmanned aerial vehicle building inspection route adjustment method based on wind field constraint in the above embodiment, which can solve the technical problem that it is difficult to adjust the waypoints falling into the high-risk area, resulting in low operation safety and stability. Compared with the prior art, the beneficial effects of the route adjustment system provided by the present application are the same as those of the unmanned aerial vehicle building inspection route adjustment method based on wind field constraint provided by the above embodiment, and other technical features in the route adjustment system are the same as those disclosed in the previous embodiment method, which will not be repeated here.

[0110] It should be understood that various parts of the present application can be realized by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0111] The above is merely specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0112] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e. computer program) for executing the unmanned aerial vehicle building inspection route adjustment method based on wind field constraint in the above embodiment.

[0113] The computer readable storage medium provided in the application may be, for example, a U disk, but is not limited to an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, system or device, or any combination of the above. More specific examples of the computer readable storage medium may include, but are not limited to, an electrical connection with one or more conductive wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory (EPROM) or a 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 above. In the embodiment, the computer readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electrical wire, an optical cable, a radio frequency (RF), and the like, or any suitable combination of the above.

[0114] The computer readable storage medium described above may be contained in the flight route adjustment system, or may exist separately without being assembled into the flight route adjustment system.

[0115] The computer readable storage medium described above carries one or more programs, which, when executed by the flight route adjustment system, cause the flight route adjustment system to: simulate and calculate a three-dimensional wind field distribution result corresponding to an outer contour model of a to-be-detected building containing three-dimensional size data and meteorological data of a geographic location of the to-be-detected building; Determine external wind field wind speed data of the outer contour model based on the three-dimensional wind field distribution result, and obtain a coordinate point in the external wind field wind speed data whose wind speed is greater than a maximum wind resistance speed of a UAV; Determine a restricted flight area in the three-dimensional wind field distribution result whose wind speed is greater than the maximum wind resistance speed of the UAV according to the coordinate point; Obtain a target waypoint in an initial inspection flight route generated by the UAV for the outer contour model, which falls in the restricted flight area; Adjust and update the target waypoint according to the restricted flight area to obtain a target inspection flight route.

[0116] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0117] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0118] The modules involved in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0119] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e. computer programs) for executing the above-mentioned wind field constraint based unmanned aerial vehicle building inspection route adjustment method, and can solve the technical problem of difficulty in adjusting the flight point falling into the high-risk area, resulting in low operation safety and stability. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the wind field constraint based unmanned aerial vehicle building inspection route adjustment method provided by the above-mentioned embodiments, and will not be described here.

[0120] The above merely provides part of embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structure transformation based on the technical concept of the present application, or direct / indirect application in other related technical fields, which is made according to the content of the present application and the drawings, is included in the patent protection scope of the present application.

Claims

1. A method for adjusting the flight path of a UAV for building inspection based on wind field constraints, characterized in that, The method for adjusting the flight path of UAV building inspection based on wind field constraints includes: Based on the outer contour model of the building to be tested, which includes three-dimensional size data, and the meteorological data of the geographical location of the building to be tested, the three-dimensional wind field distribution corresponding to the outer contour model is simulated and calculated. Based on the three-dimensional wind field distribution results, the external wind field speed data of the outer contour model is determined, and the coordinates of the external wind field speed data where the wind speed is greater than the maximum wind resistance speed of the UAV are obtained. Based on the coordinate points, determine the restricted flight area in the three-dimensional wind field distribution results where the wind speed is greater than the maximum wind resistance speed of the UAV; Obtain the target waypoints that fall within the restricted flight area in the initial inspection route generated by the UAV for the outer contour model; The target waypoints are adjusted and updated based on the restricted flight area to obtain the target inspection route.

2. The method for adjusting the flight path of a UAV building inspection based on wind field constraints as described in claim 1, characterized in that, The step of obtaining the target waypoints that fall within the restricted flight area in the initial inspection route generated by the UAV for the outer contour model includes: Traverse the set of waypoints of the initial inspection route and determine the coordinates of the waypoints corresponding to the set of waypoints. At the same time, determine the coordinates of the restricted flight area based on the simulation calculation results. Based on the waypoint coordinates and the area range coordinates, the target waypoint falling within the restricted flight area is determined.

3. The method for adjusting the flight path of a UAV building inspection based on wind field constraints as described in claim 2, characterized in that, The step of adjusting and updating the target waypoints according to the restricted flight area to obtain the target inspection route includes: Calculate the boundary safety point in the horizontal plane outside the restricted flight area that is closest to each of the target waypoints; Update the waypoint coordinates corresponding to the target waypoint based on the coordinates of the boundary safety point; The local route is updated based on the updated positions between the target waypoints to obtain the target inspection route.

4. The method for adjusting the flight path of a UAV building inspection based on wind field constraints as described in claim 3, characterized in that, The step of calculating the boundary safety point in the horizontal plane outside the restricted flight area that is closest to each of the target waypoints includes: Determine the minimum distance required for the target waypoint to leave the restricted flight area; Set the location corresponding to the minimum distance as the boundary safety point.

5. The method for adjusting the flight path of a UAV building inspection based on wind field constraints as described in claim 1, characterized in that, After the step of obtaining the target waypoints that fall within the restricted flight area in the initial inspection route generated by the UAV for the outer contour model, the UAV building inspection route adjustment method based on wind field constraints further includes: Select multiple elevation layers within the restricted flight area where the target waypoint exists; Based on the elevation layer, the three-dimensional wind field distribution results are sliced ​​to obtain a two-dimensional wind field restriction area in the horizontal plane. The wind speed in the two-dimensional wind field restriction area is greater than the maximum wind resistance speed. The slicing direction is perpendicular to the gravity direction, and the slicing position corresponds to the waypoint elevation of the initial inspection route. By overlaying the building facade outline corresponding to the outer contour model onto the horizontal plane, the visualization result of the restricted flight area in the elevation direction is obtained.

6. The method for adjusting the flight path of a UAV building inspection based on wind field constraints as described in claim 1, characterized in that, After the step of adjusting and updating the target waypoint according to the restricted flight area to obtain the target inspection route, the UAV building inspection route adjustment method based on wind field constraints further includes: Determine the initial UAV lens gimbal orientation before the target waypoint is updated, and calculate the shooting center point based on the intersection of the initial UAV lens gimbal orientation and the surface of the building to be detected; Update the lens gimbal attitude parameters corresponding to the target waypoint based on the shooting center point; The inspection route that the UAV can execute is generated based on the target inspection route.

7. The method for adjusting the flight path of a UAV building inspection based on wind field constraints as described in claim 1, characterized in that, Before the step of simulating and calculating the three-dimensional wind field distribution corresponding to the outer contour model of the building to be inspected based on the outer contour model containing three-dimensional size data and the meteorological data of the geographical location of the building to be inspected, the method for adjusting the UAV building inspection route based on wind field constraints further includes: The outer contour model is generated based on the three-dimensional reconstruction result or building information model of the building to be detected, and the outer contour model is uniformly registered with the preset coordinate system used in the wind field simulation. Obtain the preset mission parameters of the UAV and generate the initial inspection route on the outer contour model. The preset mission parameters include at least the coverage area, shooting distance and viewing angle constraints, desired surface resolution and overlap rate.

8. The method for adjusting the flight path of a UAV building inspection based on wind field constraints as described in claim 1, characterized in that, After the step of determining the restricted flight area where the wind speed is greater than the maximum wind resistance speed of the UAV in the three-dimensional wind field distribution result based on the coordinate points, the UAV building inspection route adjustment method based on wind field constraints further includes: Obtain the local flight segment of the initial inspection route that falls within the restricted flight area; Project waypoints within the local flight path segment to the target boundary safety point of the restricted flight area, and generate the target local flight path segment based on the minimum retreat distance; The target inspection route is obtained by splicing the target local route segment with the unaffected original route segment.

9. A flight path adjustment system, characterized in that, The flight path adjustment system includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the wind field-constrained UAV building inspection flight path adjustment method as described in any one of claims 1 to 8.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the method for adjusting the unmanned aerial vehicle (UAV) building inspection route based on wind field constraints as described in any one of claims 1 to 8.

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