Wind-Constrained UAV Building Inspection Route Adjustment Method, System, and Storage Medium

Abstract

This application discloses a method, system, and storage medium for adjusting the flight path of a UAV building inspection based on wind field constraints. The method includes: simulating and calculating the three-dimensional wind field distribution of the outer contour model of the building to be inspected based on meteorological data of the building's geographical location; determining the external wind speed data of the building to be inspected, thereby obtaining coordinate points in the external wind speed data where the wind speed is greater than the UAV's maximum wind resistance speed; determining the restricted flight area in the three-dimensional wind field distribution result where the wind speed is greater than the UAV's maximum wind resistance speed based on the coordinate points; obtaining the target waypoints falling within the restricted flight area in the initial inspection flight path generated by the UAV for the outer contour model; and adjusting and updating the target waypoints based on the restricted flight area to obtain the target inspection flight path. By generating the restricted flight area through wind field simulation and wind resistance threshold constraints, and adjusting the waypoint positions within the restricted flight area, the stability and safety of the cruise are improved.

Description

Technical Field

[0001] This application relates to the fields of UAV flight path planning and building inspection technology, and in particular to a method, system and storage medium for adjusting UAV building inspection flight paths based on wind field constraints. Background Technology

[0002] Current traditional UAV path planning methods are based on static environment models. They acquire information about static obstacles around buildings, such as walls, tower cranes, and cables, using LiDAR, visual sensors, or pre-set maps. Then, they construct a three-dimensional model of the passable area based on this static obstacle information. Subsequently, they search for the optimal path from the starting point to the destination in the model to plan the cruise route.

[0003] 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 consider the wind field around buildings as a constraint in the planning stage, and typically lack risk zone definitions and waypoint-level adjustment mechanisms based on wind speed thresholds. Furthermore, most existing real-time obstacle avoidance systems for drones only react to geometric obstacles or nearby ranging limitations, making it difficult to avoid high-risk wind areas in a timely manner and balancing safety and operational stability.

[0004] 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.

[0005] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main purpose of this application is to provide a method, system and storage medium for adjusting the flight path of UAV building inspection based on wind field constraints, which aims to solve the technical problem that it is difficult to adjust waypoints that fall into high-risk areas, resulting in low operational safety and stability.

[0007] To achieve the above objectives, this application proposes a method for adjusting the flight path of a UAV building inspection based on wind field constraints, the method comprising:

[0008] 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.

[0009] 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.

[0010] 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;

[0011] 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;

[0012] The target waypoints are adjusted and updated based on the restricted flight area to obtain the target inspection route.

[0013] In one embodiment, the step of obtaining target waypoints falling within the restricted flight area in the initial inspection route generated by the UAV for the outer contour model includes:

[0014] 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.

[0015] Based on the waypoint coordinates and the area range coordinates, the target waypoint falling within the restricted flight area is determined.

[0016] In one embodiment, the step of adjusting and updating the target waypoints according to the restricted flight area to obtain the target inspection route includes:

[0017] Calculate the boundary safety point in the horizontal plane outside the restricted flight area that is closest to each of the target waypoints;

[0018] Update the waypoint coordinates corresponding to the target waypoint based on the coordinates of the boundary safety point;

[0019] The local route is updated based on the updated positions between the target waypoints to obtain the target inspection route.

[0020] In one embodiment, the step of calculating the boundary safety point outside the restricted flight area that is closest to each of the target waypoints includes:

[0021] Determine the minimum distance required for the target waypoint to leave the restricted flight area;

[0022] Set the location corresponding to the minimum distance as the boundary safety point.

[0023] In one embodiment, after the step of obtaining the target waypoints falling 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:

[0024] Select multiple elevation layers within the restricted flight area where the target waypoint exists;

[0025] 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.

[0026] 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.

[0027] In one embodiment, after the step of adjusting and updating the target waypoint according to the restricted flight area to obtain the target inspection route, the method for adjusting the UAV building inspection route based on wind field constraints further includes:

[0028] 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;

[0029] Update the lens gimbal attitude parameters corresponding to the target waypoint based on the shooting center point;

[0030] The inspection route that the UAV can execute is generated based on the target inspection route.

[0031] In one embodiment, before the step of simulating and calculating the three-dimensional wind field distribution result 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:

[0032] 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.

[0033] 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.

[0034] In one embodiment, after 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:

[0035] Obtain the local flight segment of the initial inspection route that falls within the restricted flight area;

[0036] 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;

[0037] The target inspection route is obtained by splicing the target local route segment with the unaffected original route segment.

[0038] 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.

[0039] 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.

[0040] One or more technical solutions proposed in this application have at least the following technical effects:

[0041] 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

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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;

[0046] Figure 2B This is a top-down view of the building to be inspected and a schematic diagram of the initial inspection route.

[0047] Figure 2C This is a schematic diagram of the restricted flight area from a top-down view of the building to be inspected in this application;

[0048] Figure 3 This is a three-dimensional wind field diagram corresponding to the building to be tested in this application;

[0049] Figure 4 This is a schematic diagram of the restricted flight area around the building to be tested in this application, where the wind speed exceeds the maximum wind resistance speed.

[0050] Figure 5A This is a schematic diagram of the target inspection route after route adjustment from a three-dimensional perspective of the building to be inspected in this application;

[0051] Figure 5B This is a schematic diagram of the target inspection route after route adjustment, viewed from the top view of the building to be inspected in this application.

[0052] Figure 6 This is a flowchart illustrating the second embodiment of the UAV building inspection route adjustment method based on wind field constraints provided in this application.

[0053] Figure 7 This is a flowchart illustrating the third embodiment of the UAV building inspection route adjustment method based on wind field constraints provided in this application.

[0054] Figure 8 This is a flowchart illustrating the fourth embodiment of the UAV building inspection route adjustment method based on wind field constraints provided in this application.

[0055] Figure 9 This is a schematic diagram of the direction adjustment of the target waypoint that needs to be adjusted in the wind field-constrained UAV building inspection route adjustment method of this application, shown in the top view.

[0056] Figure 10 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the wind field-constrained UAV building inspection route adjustment method in the embodiments of this application.

[0057] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0058] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0059] Current traditional UAV path planning methods are based on static environment models. They acquire information about static obstacles around buildings, such as walls, tower cranes, and cables, using LiDAR, visual sensors, or pre-set maps. Then, they construct a three-dimensional model of the passable area based on this static obstacle information. Subsequently, they search for the optimal path from the starting point to the destination in the model to plan the cruise route.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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;

[0067] 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;

[0068] The target waypoints are adjusted and updated based on the restricted flight area to obtain the target inspection route.

[0069] Specifically, based on the outer contour model of the building to be inspected and the meteorological data of its geographical location, the three-dimensional wind field distribution is simulated and calculated. Then, the coordinates of the wind speed data in the external wind field 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, ensure the stability and continuity of the inspection process, and improve the reliability of UAV building inspection.

[0070] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or flight route adjustment system capable of performing the above functions. The following description uses a flight route adjustment system as an example to illustrate this embodiment and the subsequent embodiments.

[0071] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0072] Based on this, this application provides a method for adjusting the flight path of a UAV building inspection based on wind field constraints, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the UAV building inspection route adjustment method based on wind field constraints of this application.

[0073] In this embodiment, the method for adjusting the UAV building inspection route based on wind field constraints includes steps S10 to S50:

[0074] Step S10: Based on the outer contour model of the building to be detected, which includes 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.

[0075] It should be noted that the outer contour model of the building to be inspected is a digital model containing information such as the three-dimensional dimensions and shape of each part of the building, obtained through technologies such as 3D scanning and BIM modeling. Meteorological data refers to wind-related meteorological parameters such as wind speed, wind direction, and air pressure at the geographical location of the building to be inspected. The three-dimensional wind field distribution results are obtained using the numerical method of Computational Fluid Dynamics (CFD). By solving the Navier-Stokes equations and combining the three-dimensional geometric model of the target building and its surrounding terrain and obstacles with meteorological boundary conditions, the distribution of physical quantities such as wind speed, wind direction, turbulent kinetic energy, and turbulence intensity around the building in three-dimensional space is obtained. The building to be inspected is the target object of the UAV inspection. The building to be inspected includes, but is not limited to, a single building, a local area of ​​a building complex, multiple adjacent but not connected buildings, or any combination of the above objects. This embodiment does not limit this.

[0076] In this embodiment, as an optional implementation method for simulating the three-dimensional wind field distribution, an unmanned aerial vehicle (UAV) can first capture image data of the target building from multiple angles. The image data is then processed using 3D reconstruction software to generate the geometric model of the building's outer contour. Simultaneously, meteorological data for the building's location can be obtained from nearby weather stations, meteorological data platforms, or environmental monitoring sensors near the building. Subsequently, the outer contour model and meteorological boundary conditions are input into wind field simulation software such as CFD software for numerical calculation to obtain the three-dimensional wind field distribution results. The constructed three-dimensional wind field distribution results are aligned with the outer contour model of the building under test in a unified coordinate system.

[0077] Alternatively, in another implementation of simulating the three-dimensional wind field distribution, a three-dimensional laser scanner can be used to perform a full-range scan of the building to be tested, acquiring point cloud data. This point cloud data can then be converted into an outer contour model using point cloud processing software. Three-dimensional laser scanning can accurately acquire the building's shape data, providing an accurate geometric basis for subsequent wind field simulation. Simultaneously, historical and real-time meteorological data of the building's location can be obtained from a meteorological station or meteorological data platform, thus providing initial and boundary conditions for the wind field simulation.

[0078] After data preprocessing, the outer contour model and meteorological data are input into computational fluid dynamics (CFD) software. Simulation parameters, such as boundary conditions and mesh generation, are set in the software to perform simulation calculations, yielding the three-dimensional wind field distribution result W(x,y,z). It is understandable that CFD software, based on fluid dynamics equations, can simulate wind speeds around buildings.

[0079] This embodiment constructs a three-dimensional wind field distribution result, providing a basic wind field architecture for subsequent route processing and correction. By simulating the wind field distribution, it improves the accuracy of subsequent route risk identification and route adjustment.

[0080] Step S20: Based on the three-dimensional wind field distribution results, determine the external wind field speed data of the outer contour model, and obtain the coordinates of the external wind field speed data where the wind speed is greater than the maximum wind resistance speed of the UAV.

[0081] External wind field speed data refers to 3D data that combines the three-dimensional wind field distribution results with the outer contour model and is presented through visualization technology to intuitively show the wind field conditions around the building's outer contour. The maximum wind resistance speed of a drone refers to the highest wind speed threshold at which the drone can maintain stable flight or hovering under external wind conditions. This parameter directly determines the safety and reliability of the drone in complex weather environments.

[0082] In this embodiment, it is necessary to determine the spatial locations where the wind speed value in the external wind field data exceeds the maximum wind resistance speed that the drone can withstand. As an optional implementation, the three-dimensional wind field distribution results can be imported into three-dimensional visualization software and overlaid with the outer contour model to generate external wind field wind speed data. Then, based on a pre-set wind speed threshold in the software, the coordinates of locations with wind speeds greater than the threshold are identified and recorded, thus obtaining the coordinate points. The wind speed threshold is the maximum wind resistance speed of the drone, which is typically set during the data processing stage. For example, if the maximum wind resistance speed of the drone is 12 m / s, the software can then filter out multiple coordinate points on and around the building where the wind speed exceeds 12 m / s.

[0083] Optionally, to balance inspection safety and efficiency, a safety factor k is set for the drone based on its maximum wind resistance speed. The coordinates are determined using both the safety factor k and the maximum wind resistance speed. The safety factor k is a coefficient greater than or equal to 1, set to ensure drone flight safety. It adds a safety redundancy based on the drone's maximum wind resistance speed; a larger k value results in higher safety redundancy. Therefore, the coordinates of areas where the wind speed exceeds the product of the drone's maximum wind resistance speed and the safety factor can also be obtained from external wind field data to determine restricted flight areas.

[0084] Step S30: Determine the restricted flight area in the three-dimensional wind field distribution result where the wind speed is greater than the maximum wind resistance speed of the UAV based on the coordinate points.

[0085] In this embodiment, based on 3D modeling software, coordinate points are used as vertices to construct 3D mesh surfaces. By connecting and expanding the mesh surfaces, a 3D model of the restricted flight area is formed, and attribute information is set in the model, such as the area type being a restricted flight area. Setting attribute information facilitates the rapid identification of the area in subsequent route planning.

[0086] Optionally, the obtained coordinate points can be imported into a Geographic Information System (GIS). Through the spatial analysis function of GIS software, these coordinate points can be connected to form a closed polygon or polyhedron to determine the boundary of the restricted flight area. Then, the area can be marked and its attributes defined, indicating that it is a restricted flight area and the corresponding wind speed range. The marking and attribute definition facilitate the subsequent identification and processing of the area.

[0087] Furthermore, restricted flight zones can also be determined through calculation. Specifically, the formula for determining restricted flight zones based on maximum wind resistance speed and a safety factor is as follows:

[0088]

[0089] Where p is any coordinate point in three-dimensional space, v(p) represents the wind speed at coordinate point p, that is, the wind speed value corresponding to that location in the three-dimensional wind field distribution result, reflecting the magnitude of the wind flow velocity at point p in space, and k is a safety factor, with a value of k≥1. max This represents the maximum wind resistance speed. The current expression allows for the precise definition of all wind speeds exceeding k and V. max The product of spatial locations defines the restricted flight area for drones.

[0090] Step S40: 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.

[0091] The initial flight path is a pre-planned flight path of the UAV based on the outer contour model of the building to be inspected; this path is a simulated scenario. The target waypoints are the specific locations within the restricted flight area along the initial inspection flight path. In addition to the waypoints, the initial inspection flight path also includes the initial UAV camera gimbal orientation for each waypoint, i.e., the shooting position the UAV should be facing at each waypoint.

[0092] In this embodiment, a pre-compiled algorithm can be calculated to compare the coordinates of each waypoint in the waypoint list with the boundary coordinates of the restricted flight area to determine whether the waypoint is within the restricted flight area, thereby filtering out the target waypoint.

[0093] Optionally, the initial inspection route data can be imported into the route planning software, and the target waypoints falling within the restricted flight area can be found through the software's spatial matching function.

[0094] Step S50: Adjust and update the target waypoints according to the restricted flight area to obtain the target inspection route.

[0095] 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.

[0096] 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.

[0097] 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 on Figure 3 As shown in the wind field, it can be determined that between the two buildings, the airflow is blocked and the flow cross-section is reduced, thus accelerating, corresponding to the orange and yellow areas. At the same time, there is also an area with higher wind speed outside the buildings.

[0098] Furthermore, it is necessary to base the maximum wind resistance speed on the following: Figure 3 The three-dimensional wind field shown is combined with the building to be detected, and points with wind speeds exceeding a certain threshold are marked as high-risk areas, i.e., restricted flight zones. For example, if... Figure 2C The diagram shows a restricted flight area from a top-down perspective. Subsequently, slices were created at several altitude levels (i.e., along the elevation direction) where waypoints exist, extracting wind speed points exceeding the threshold. Building facade outlines were then overlaid on the X–Z plane to visualize the high-risk area, resulting in... Figure 4 The image shows a visualization of high-risk areas around the building under test where wind speeds exceed the maximum wind resistance speed of 12 m / s. Finally, the points where the UAV landed in these areas during its initial flight path were calculated, and then the positions of these areas were adjusted to obtain the following result. Figure 5A and Figure 5BAs shown, the adjusted target inspection route is viewed from both a three-dimensional and overhead perspective. This effectively avoids high-risk areas and improves the safety of drone inspections.

[0099] It should be noted that the above parameters are for illustrative purposes only and are not intended to limit this application.

[0100] This embodiment provides a method for adjusting the flight path of a UAV for building inspection based on wind field constraints. By constructing a three-dimensional wind field distribution, the wind field conditions around the building to be inspected are given. Based on these wind field conditions, restricted flight areas with excessive wind speeds are identified, along with the target waypoints falling within these restricted flight areas. Finally, the target waypoints are moved outside the restricted flight areas, and the target inspection flight path is readjusted based on the moved waypoints. This effectively avoids areas of strong winds that the UAV cannot withstand, ensuring flight safety during building inspections, reducing inspection interruptions or accidents caused by wind field issues, and ensuring that inspection tasks can be completed comprehensively and efficiently, thus improving the overall performance and practicality of UAV building inspections.

[0101] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 6 Step S40 includes steps S41 to S42:

[0102] Step S41: Traverse the waypoint set of the initial inspection route and determine the waypoint coordinates corresponding to the waypoint set. At the same time, determine the area range coordinates of the restricted flight area based on the simulation calculation results.

[0103] In this embodiment, the set of waypoints for the initial inspection route is traversed based on a preset algorithm or script to determine the coordinates of each waypoint on the initial inspection route. Simultaneously, based on previous simulation calculations, the coordinates of the restricted flight area are determined, so that target waypoints can be selected based on these coordinates.

[0104] Step S42: Determine the target waypoint that falls within the restricted flight area based on the waypoint coordinates and the area range coordinates.

[0105] In this embodiment, after obtaining the waypoint set P of the initial inspection route L0 and the waypoint coordinates of each waypoint in a unified coordinate system, P is compared with the restricted flight area R to determine the subset corresponding to the target waypoint, i.e., P. R = {p∈P|p∈R}, where p is the target waypoint, P is the set of waypoints, and R is the set of coordinates of the restricted flight area.

[0106] This embodiment matches the coordinates of the waypoint set with the coordinates of the restricted flight area by traversing the waypoint set, thereby accurately identifying waypoints that fall within the restricted flight area and improving the accuracy of target inspection route adjustments based on target waypoints.

[0107] Based on the second embodiment, in the third embodiment of this application, please refer to... Figure 7 Step S50 also includes steps S51 to S52:

[0108] Step S51: Calculate the boundary safety point that is closest to each of the target waypoints in the horizontal plane outside the restricted flight area.

[0109] In this embodiment, each target waypoint typically corresponds uniquely to a boundary safety point. That is, once a boundary safety point is selected for one target waypoint, other target waypoints will not select that boundary point, even if the distance to that point is the most suitable. Optionally, multiple target waypoints may correspond to the same boundary safety point.

[0110] Specifically, in calculating the boundary safety point, the minimum distance required for the target waypoint to leave the restricted flight area within a horizontal plane can be determined, and the position corresponding to this minimum distance is then set as the boundary safety point. This minimum distance is the Euclidean distance.

[0111] For example, in a unified coordinate system, for the target waypoint subset P R For each waypoint p in the map, calculate the boundary of the restricted flight area R. The point q on R that is closest to p in Euclidean distance is then taken. The retreat direction is then normalized (qp), and the boundary safety point p' = q + di·n is obtained by using the minimum retreat distance di (di>0).

[0112] p' R.

[0113] Step S52: Update the waypoint coordinates corresponding to the target waypoint based on the coordinates of the boundary safety point.

[0114] Once a safe haven is obtained, its coordinates can be set as the new coordinates for the target waypoint. The updated waypoint is then connected to the previous adjacent waypoints.

[0115] Step S53: Update the local route according to the updated positions between the target waypoints to obtain the target inspection route.

[0116] For example, after replacing the original waypoint p with p', the affected local route segments are smoothed and reconstructed with constraints while ensuring connectivity with adjacent waypoints, resulting in updated inspection route segments. Finally, each updated segment is merged into the initial inspection route to form the target inspection route L*.

[0117] This embodiment calculates the Euclidean distance between the nearest boundary point outside the restricted flight area and the target waypoint. Then, based on the Euclidean distance and the retreat direction, it calculates the actual required adjustment position. This ensures that the new waypoint avoids risk areas while being as close as possible to the original waypoint, reducing the impact on the overall inspection range. At the same time, it keeps the flight path smooth and continuous, reducing unnecessary turns and adjustments during UAV flight, lowering energy consumption, and ensuring complete inspection coverage of buildings. Thus, it balances safety with inspection efficiency and accuracy, making the target inspection route more in line with actual inspection needs.

[0118] Based on the first embodiment of this application, in the fourth embodiment of this application, the content that is the same as or similar to that in the first embodiment can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 8 After step S40, slices are made for several altitude layers (i.e., elevation directions) where waypoints exist, and two-dimensional cross-sectional scatter points with wind speeds exceeding a threshold are extracted. The building facade outline is then superimposed on the X–Z plane to achieve… Figure 4 The high-risk area is visualized. Therefore, the method for adjusting the UAV building inspection route based on wind field constraints further includes steps S60~S80:

[0119] Step S60: Select multiple elevation layers in the restricted flight area where the target waypoint exists.

[0120] In this embodiment, an elevation layer refers to a virtual layer parallel to the horizontal plane, typically defined at certain height intervals along the Z-axis in a three-dimensional coordinate system, perpendicular to the ground (i.e., elevation direction). An elevation layer containing a target waypoint refers to a specific height level within a restricted flight area, where the target waypoint is located during the initial UAV inspection route.

[0121] Specifically, from the three-dimensional coordinates (x, y, z) of all target waypoints, values ​​with different z values ​​can be selected, and each independent z value corresponds to an elevation layer, ultimately resulting in multiple elevation layers.

[0122] For example, if the target waypoints are distributed at altitudes of 15m, 30m, 45m, and 60m, then 15m, 30m, 45m, and 60m are selected as four elevation layers to confirm whether the waypoints are in restricted areas.

[0123] It should be noted that the above parameters are for illustrative purposes only and are not intended to limit this application.

[0124] Step S70: Based on the elevation layer, slice the three-dimensional wind field distribution results to obtain the two-dimensional wind field confinement area in the horizontal plane.

[0125] In this case, the wind speed in 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.

[0126] In this embodiment, slicing refers to cutting a plane along a specific direction at a specified elevation layer in a three-dimensional model to obtain two-dimensional data of the plane; the two-dimensional wind field restriction area refers to the area on the horizontal surface obtained after slicing where the wind speed is greater than the maximum wind resistance speed of the UAV.

[0127] As an optional implementation, after importing the three-dimensional wind field distribution result W(x,y,z), the z values ​​of each elevation layer selected in step S60 are entered sequentially, the slicing direction is set to horizontal, the system automatically cuts out a plane at the corresponding elevation layer, extracts all coordinate points (x,y) in the plane where the wind speed is greater than the maximum wind resistance speed, and connects these points to form a closed area, that is, a two-dimensional wind field restriction area.

[0128] For example, the formula for calculating the two-dimensional wind field confinement region is as follows:

[0129] .

[0130] Among them, Rz i For height z i The two-dimensional restricted flight area is defined by (x, y) as the spatial coordinates on the horizontal plane and v(x, y, z) as the height z. i Wind speed at coordinates (x, y), k·V max The wind speed threshold is a safety correction.

[0131] Step S80: Superimpose the building facade outline corresponding to the outer contour model onto the horizontal plane to obtain the visualization result of the restricted flight area in the elevation direction.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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:

[0136] 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.

[0137] 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.

[0138] After obtaining the intersection point and the gimbal orientation, the shooting center point is calculated using the initial orientation and the position of the intersection point. This center point is the location where the shot needs to be taken, so that the orientation of the target waypoint can be updated based on this position.

[0139] Step S100: Update the lens gimbal attitude parameters corresponding to the target waypoint based on the shooting center point.

[0140] In this embodiment, the spatial vector between the three-dimensional coordinates of the shooting center point and the updated target waypoint position can be calculated to determine the lens gimbal attitude parameters that the UAV needs to adjust. That is, based on the new waypoint position and the shooting center point, the new pitch angle and yaw angle required by the lens gimbal can be calculated to ensure that when the UAV performs the task based on the newly generated flight path segment, its lens accurately points to the shooting center point, thus ensuring the correctness of the shooting direction.

[0141] For example, the initial inspection route in the top-down view is... Figure 2B The route shown becomes Figure 5B The route shown is based on Figure 5B Please refer to the target inspection route shown. Figure 9 , Figure 9 This is a schematic diagram of waypoints on a certain horizontal plane for the target inspection route. At this time, it is necessary to adjust the corresponding attitude parameters of the UAV lens gimbal according to the changed waypoints, so that the shooting direction of the UAV lens changes synchronously at the new waypoints, ensuring the accuracy of the image acquisition area.

[0142] Step S110: Generate an inspection route that the UAV can execute based on the target inspection route.

[0143] In this embodiment, after updating the lens gimbal attitude parameters corresponding to the target waypoint, an executable inspection route for the UAV can be generated based on the target inspection route, i.e., a real-world executable route. This allows the UAV to avoid areas with high wind speeds when performing inspection tasks based on real-world executable routes, thereby improving the safety of UAV inspections.

[0144] Based on the first embodiment of this application, in the sixth embodiment of this application, before step S10, steps S01~S02 are further included:

[0145] Step S01: Generate the outer contour model based on the three-dimensional reconstruction result or building information model of the building to be detected, and register the outer contour model with the preset coordinate system used for wind field simulation.

[0146] In this embodiment, the outer contour model of the building to be detected is obtained through technologies such as 3D scanning and BIM modeling. It is a digital model containing information such as the 3D dimensions and shape of each part of the building. Specifically, the 3D reconstruction result is obtained by performing 3D modeling of the building through technologies such as photogrammetry and laser scanning. Then, the outer contour model is generated based on the 3D reconstruction result or the building information model.

[0147] Specifically, when generating the outer contour model based on the 3D reconstruction results, the image data obtained by UAV oblique photography is processed to generate a point cloud model, and then point cloud filtering and simplification algorithms are used to extract the outer contour features of the building to construct the outer contour model.

[0148] Optionally, when generating the outer contour model based on the building information model, the geometric model data of the building can be exported from the BIM software, and non-outer contour structures can be removed using the model simplification tool to generate the outer contour model.

[0149] After generating the outer contour model, the outer contour model and the preset coordinate system used in the wind field simulation can be uniformly registered, so that the building facade contour corresponding to the outer contour model can be superimposed on the horizontal plane to obtain accurate visualization results.

[0150] Step S02: Obtain the preset mission parameters of the UAV and generate the initial inspection route on the outer contour model.

[0151] In this embodiment, the preset task parameters include at least the coverage area, shooting distance and viewing angle constraints, desired surface resolution, and overlap rate. Based on these preset task parameters, data is automatically generated on the outer contour model. Figures 2A-2B The initial inspection route is shown.

[0152] Based on the first embodiment of this application, in the sixth embodiment of this application, in addition to updating the target waypoints falling within the restricted flight area and adjusting the target inspection route based on the updated target waypoints, the local route falling within the restricted flight area can also be updated to obtain the target inspection route. Therefore, after step S30, the method further includes: obtaining the local route segment falling within the restricted flight area in the initial inspection route; projecting the waypoints within the local route segment to the boundary safety point of the restricted flight area; and generating the target local route segment according to the minimum retreat distance; and splicing the target local route segment with the unaffected original route segment to obtain the target inspection route.

[0153] In this embodiment, the route adjustment system can automatically change the projection position of a local route segment, and after the position of the local route segment changes, it splices it with the original segment to obtain the target inspection route.

[0154] This application provides a flight path adjustment system, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to execute the UAV building inspection flight path adjustment method based on wind field constraints in the first embodiment described above.

[0155] The following is for reference. Figure 10 It shows a schematic diagram of a structure suitable for implementing the route adjustment system of the embodiments of this application. Figure 10The route adjustment system shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0156] like Figure 10 As shown, the flight path adjustment system may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the flight path adjustment system. The processing unit 1001, the ROM 1002, and the RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the flight path adjustment system to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows a flight path adjustment system with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0157] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0158] The flight path adjustment system provided in this application employs the wind field-constrained UAV building inspection flight path adjustment method described in the above embodiments. This method effectively solves the technical problem of difficulty in adjusting waypoints that fall into high-risk areas, leading to low operational safety and stability. Compared with the prior art, the beneficial effects of the flight path adjustment system provided in this application are the same as those of the wind field-constrained UAV building inspection flight path adjustment method provided in the above embodiments. Furthermore, other technical features of this flight path adjustment system are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0159] It should be understood that the various parts disclosed in this application can be implemented using 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 suitable manner in one or more embodiments or examples.

[0160] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0161] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, which are used to execute the wind field-constrained UAV building inspection route adjustment method in the above embodiments.

[0162] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory, read-only memory, erasable programmable read-only memory (EPROM, or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, radio frequency (RF), etc., or any suitable combination thereof.

[0163] The aforementioned computer-readable storage medium may be included in the flight path adjustment system; or it may exist independently and not be installed in the flight path adjustment system.

[0164] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the flight path adjustment system, cause the flight path adjustment system to: simulate and calculate the three-dimensional wind field distribution result corresponding to the outer contour model of the building to be detected, based on the outer contour model containing three-dimensional size data and the meteorological data of the geographical location of the building to be detected;

[0165] 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.

[0166] 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;

[0167] 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;

[0168] The target waypoints are adjusted and updated based on the restricted flight area to obtain the target inspection route.

[0169] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0170] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0171] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0172] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described wind-field-constrained UAV building inspection route adjustment method. This solves the technical problem of difficulty in adjusting waypoints that fall into high-risk areas, leading to low operational safety and stability. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the wind-field-constrained UAV building inspection route adjustment method provided in the above embodiments, and will not be repeated here.

[0173] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for adjusting a UAV building inspection route based on wind field constraints, characterized in that, The unmanned aerial vehicle building inspection route adjustment method based on wind field constraints comprises the following steps: 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; Based on the three-dimensional wind field distribution result, the external wind field wind speed data of the outer contour model is determined, and the coordinate points with wind speed greater than the maximum wind resistance speed of the unmanned aerial vehicle in the external wind field wind speed data are obtained; According to the coordinate points, the restricted flight area with wind speed greater than the maximum wind resistance speed of the unmanned aerial vehicle in the three-dimensional wind field distribution result is determined; The target waypoint falling in the restricted flight area in the initial inspection route generated by the unmanned aerial vehicle for the outer contour model is obtained; The target waypoint is adjusted and updated according to the restricted flight area to obtain a target inspection route, comprising: determining the minimum distance required for the waypoint coordinate of the target waypoint to leave the restricted flight area, and setting the position corresponding to the minimum distance as the boundary safety point closest to each target waypoint in the horizontal plane outside the restricted flight area; The waypoint coordinate corresponding to the target waypoint is updated based on the coordinate of the boundary safety point; The local route is updated according to the position between the updated target waypoints to obtain the target inspection route. 2.The method of claim 1, wherein, The step of obtaining the target waypoint falling in the restricted flight area in the initial inspection route generated by the unmanned aerial vehicle for the outer contour model comprises: Iterate through the waypoint set of the initial inspection route, and determine the waypoint coordinates corresponding to the waypoint set, and determine the regional range coordinates of the restricted flight area according to the simulation calculation result; According to the waypoint coordinates and the regional range coordinates, the target waypoint falling in the restricted flight area is determined. 3.The method of claim 1, wherein, After the step of obtaining the target waypoint falling in the restricted flight area in the initial inspection route generated by the unmanned aerial vehicle for the outer contour model, the unmanned aerial vehicle building inspection route adjustment method based on wind field constraints further comprises: Selecting multiple elevation layers in the restricted flight area where the target waypoints exist; Based on the elevation layer, the three-dimensional wind field distribution result is sliced to obtain a two-dimensional wind field restriction area in the horizontal plane, the wind speed of the two-dimensional wind field restriction area is greater than the maximum wind resistance speed, the slicing direction is the vertical gravity direction, and the slicing position corresponds to the waypoint elevation of the initial inspection route; The building facade contour corresponding to the outer contour model is superimposed on the horizontal plane to obtain a visualization result of the restricted flight area in the elevation direction. 4.The method of claim 1, wherein, After the step of adjusting and updating the target waypoint according to the restricted flight area to obtain a target inspection route, the unmanned aerial vehicle building inspection route adjustment method based on wind field constraints further comprises: Determine the initial unmanned aerial vehicle lens holder orientation corresponding to the target waypoint before the update, and calculate the shooting center point according to the intersection of the initial unmanned aerial vehicle lens holder orientation and the surface of the building to be detected; Update the lens holder attitude parameter corresponding to the target waypoint based on the shooting center point; Generate the inspection route executable by the unmanned aerial vehicle according to the target inspection route. 5.The method of claim 1, wherein, Before the step of simulating a three-dimensional wind field distribution result corresponding to the outer contour model according to the outer contour model of the building to be detected containing three-dimensional size data and meteorological data of the geographical location where the building to be detected is located, the unmanned aerial vehicle building inspection route adjustment method based on wind field constraints further comprises: generating the outer contour model according to the three-dimensional reconstruction result or the building information model of the building to be detected, and uniformly registering the outer contour model with a preset coordinate system adopted by wind field simulation; obtaining preset task parameters of the unmanned aerial vehicle, and generating the initial inspection route on the outer contour model, wherein 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. 6.The method of adjusting the UAV building inspection route based on wind field constraint according to claim 1, wherein, After the step of determining a restricted flight area where a wind speed in the three-dimensional wind field distribution result is greater than a maximum wind resistance speed of the unmanned aerial vehicle according to the coordinate point, the unmanned aerial vehicle building inspection route adjustment method based on wind field constraints further comprises: obtaining a local route segment of the initial inspection route falling in the restricted flight area; projecting a waypoint in the local route segment to a target boundary safety point of the restricted flight area, and generating a target local route segment according to a minimum retreat distance; splicing the target local route segment and an unaffected original route segment to obtain the target inspection route.

7. A route adjustment system characterized by, The route adjustment system comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the unmanned aerial vehicle building inspection route adjustment method based on wind field constraints as claimed in any one of claims 1 to 6.

8. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the unmanned aerial vehicle building inspection route adjustment method based on wind field constraints as claimed in any one of claims 1 to 6.

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