Methods, equipment, and media for generating UAV flight paths based on CAD drawings

Abstract

This invention provides a method, device, and medium for generating UAV flight paths based on CAD drawings, belonging to the field of UAV navigation and geographic information processing technology. The method includes: acquiring CAD planar coordinate data and validating the CAD planar coordinate data; converting the validated CAD planar coordinate data into latitude and longitude coordinates in the geodetic coordinate system through projection back calculation based on pre-configured coordinate system parameters; performing coordinate verification on the latitude and longitude coordinates, and if the verification fails, returning to step S20 for correction until the verification is successful; generating a UAV flight path file based on the verified latitude and longitude coordinates; and performing flight path verification on the UAV flight path file. By taking UAV flight path generation as the core, using CAD coordinate conversion as the basic step, integrating the entire process, and supplementing and improving verification methods, the method achieves automated and high-precision generation of UAV flight paths without the need for multiple software switching.

Description

Technical Field

[0001] This invention belongs to the field of UAV navigation and geographic information processing technology, and specifically relates to a method, device and medium for generating UAV flight routes based on CAD drawings. Background Technology

[0002] With the widespread application of drone technology in surveying, inspection, and security, the impact of drone navigation accuracy on operational effectiveness is becoming increasingly significant. Drone navigation systems generally use latitude and longitude coordinates in the WGS84 geodetic coordinate system as the navigation reference, while geospatial data in the engineering design phase is usually stored in plane rectangular coordinates (XY coordinates) generated by CAD software. The two coordinate systems are fundamentally different and cannot be directly used for flight path generation.

[0003] In existing technologies, UAV flight path generation mainly relies on step-by-step manual operation of general GIS software and flight control software, which has the following technical drawbacks: First, the route generation process is disconnected. It requires manually converting CAD plane coordinates to latitude and longitude coordinates and then manually writing or generating KML route files, which is cumbersome and inefficient. Second, the lack of standardized verification methods and the failure to perform precise verification after coordinate transformation can easily lead to problems such as coordinate offset and reversed order. Furthermore, the rationality of the route and the compatibility with flight control are not verified after the route is generated, resulting in safety hazards such as breakpoints, loss of elevation control, and inability of flight control to recognize the route during flight. Summary of the Invention

[0004] To address the problems in the background art, this invention proposes a method, device, and medium for generating UAV flight paths based on CAD drawings.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention proposes a method for generating UAV flight paths based on CAD drawings, comprising: S10. Obtain CAD plane coordinate data and verify the validity of the CAD plane coordinate data; S20. Based on the pre-configured coordinate system parameters, the CAD plane coordinate data that has passed validity verification is converted into latitude and longitude coordinates in the geodetic coordinate system through projection back calculation. S30. Perform coordinate verification on the latitude and longitude coordinates. If the verification fails, return to step S20 to correct until the verification is successful. S40. Generate UAV flight path files based on verified latitude and longitude coordinates; S50. Verify the UAV route file. If the verification fails, return to step S40 to correct it until the verification is successful. S60. Perform a comprehensive verification of the qualified latitude and longitude coordinates and the UAV flight path file to obtain the final flight path file.

[0006] Preferably, the CAD plane coordinate data includes point name, X coordinate, Y coordinate and elevation data.

[0007] Preferably, the coordinate system parameters include: geodetic reference surface parameters, projection method parameters, and auxiliary parameters; wherein, the geodetic reference surface parameters include the semi-major axis and flattening of the ellipsoid; the projection method parameters include the projection type, the zonal type, and the longitude of the central meridian; and the auxiliary parameters include the projection surface elevation and the Gaussian projection scale factor. The method for inverse projection calculation is Gaussian projection inverse calculation.

[0008] Preferably, after step S20, the method further includes: S21. Perform format processing on the latitude and longitude coordinates; wherein, the format processing includes coordinate order adjustment, elevation conversion and coordinate accuracy preservation.

[0009] Preferably, the coordinate verification includes: accuracy verification, consistency verification, coordinate format verification, and integrity verification.

[0010] Preferably, the step of generating the UAV flight path file based on the verified latitude and longitude coordinates specifically involves generating the UAV flight path file based on the verified latitude and longitude coordinates using a preset KML template.

[0011] Preferably, the route verification includes: route format verification, path verification, elevation verification, and flight compatibility verification.

[0012] Preferably, the comprehensive verification includes: coordinate comprehensive verification, flight path simulation verification, and actual flight test verification.

[0013] In a second aspect, the present invention proposes a device including a memory and a processor, wherein the memory stores computer instructions capable of running on the processor, characterized in that the processor executes a method for generating UAV flight routes based on CAD drawings according to the first aspect when running the computer instructions.

[0014] Thirdly, the present invention proposes a computer-readable storage medium storing computer instructions, which, when executed, can realize the UAV route generation method based on CAD drawings as described in the first aspect.

[0015] The beneficial effects of this invention are: The method of this invention takes UAV flight path generation as its core, CAD coordinate transformation as its basic step, integrates the entire process and supplements and improves verification methods, thereby realizing the automated and high-precision generation of UAV flight paths. It eliminates the need for multiple software switching, lowers the operational threshold, improves the efficiency and reliability of flight path generation, and ensures the flight safety of UAVs. It can be widely applied to various UAV operation scenarios.

[0016] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of a method for generating UAV flight paths based on CAD drawings according to the present invention is shown. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Reference Figure 1 As shown, a method for generating UAV flight paths based on CAD drawings includes the following steps: S10. Obtain CAD plane coordinate data and verify the validity of the CAD plane coordinate data; S20. Based on the pre-configured coordinate system parameters, the CAD plane coordinate data that has passed validity verification is converted into latitude and longitude coordinates in the geodetic coordinate system through projection back calculation. S30. Perform coordinate verification on the latitude and longitude coordinates. If the verification fails, return to step S20 to correct until the verification is successful. S40. Generate UAV flight path files based on verified latitude and longitude coordinates; S50. Verify the UAV flight path file. If the verification fails, return to step S40 to correct it until the verification is successful. S60. Perform a comprehensive verification of the qualified latitude and longitude coordinates and the UAV flight path file to obtain the final flight path file.

[0021] This invention, with UAV flight path generation as its core and CAD coordinate transformation as its fundamental step, integrates the entire process and supplements and improves verification methods, achieving automated and high-precision generation of UAV flight paths. It eliminates the need for multiple software switching, lowers the operational threshold, improves flight path generation efficiency and reliability, and ensures UAV flight safety. It can be widely applied to various UAV operation scenarios.

[0022] In step S10 above, the CAD plane coordinate data includes point names, X coordinates, Y coordinates, and elevation data. Specifically, the X coordinate is the eastward coordinate in the CAD plane coordinate system, the Y coordinate is the northward coordinate in the CAD plane coordinate system, and the elevation is the absolute elevation.

[0023] In step S10 above, the method for validating the data includes checking whether the coordinate values ​​are empty, whether the coordinate values ​​exceed the preset reasonable range, and whether the coordinate points are entered repeatedly. The data that does not meet the requirements is judged as abnormal data points and removed to ensure that the remaining coordinate data is complete, standardized and error-free.

[0024] By extracting the corresponding CAD plane coordinate data from the CAD drawings and validating the CAD plane coordinate data to eliminate invalid and erroneous data, accurate and reliable basic data is provided for subsequent coordinate transformation and route generation.

[0025] In step S20 above, the coordinate system parameters include: geodetic datum parameters, projection method parameters, and auxiliary parameters. Specifically, the geodetic datum parameters include the semi-major axis of the ellipsoid. and flatness Projection parameters include projection type, zoning zone type, and central meridian longitude. Auxiliary parameters include the elevation of the projected surface. Gaussian projection scaling factor .

[0026] The geodetic coordinate system is either WGS84 or CGCS2000.

[0027] After parameter configuration is completed, the valid CAD plane coordinate data is converted and calculated using a projection inverse calculation method. In a specific embodiment, the projection inverse calculation is implemented using Gaussian projection inverse calculation. Based on the Gaussian projection inverse calculation formula, the corresponding geodetic latitude B and geodetic longitude L are calculated respectively, and the CAD plane rectangular coordinates (X, Y) are converted into latitude and longitude coordinates (B, L) in the geodetic coordinate system, thereby obtaining latitude and longitude coordinate data that meets the navigation and positioning requirements of the UAV.

[0028] Specifically, the expressions for calculating geodetic latitude B and geodetic longitude L using Gaussian projection back-calculation are as follows: The expression for calculating geodetic latitude B is:

[0029] The expression for calculating geodetic longitude L is:

[0030] In the formula, The vertical latitude; This represents the central meridian offset corresponding to the Y-coordinate in the CAD planar coordinate data. Longitude of the central meridian; Let be the radius of curvature of the ellipsoid's prime meridian; ; , This is the second eccentricity of the ellipsoid; is the Earth's average radius of curvature.

[0031] Step S20 converts CAD planar coordinate data into latitude and longitude coordinates in a geodetic coordinate system that can be directly used by the UAV navigation system, thereby achieving unification and high-precision mapping between different coordinate systems and providing standard coordinate data that meets the flight requirements of the UAV for subsequent coordinate verification and route generation.

[0032] After step S20 above, the method also includes step S21, formatting the latitude and longitude coordinates; wherein, the formatting includes adjusting the coordinate order, transforming the elevation, and preserving the coordinate accuracy.

[0033] Formatting latitude and longitude coordinates ensures that the coordinate data meets the parsing rules for UAV navigation and flight control, guaranteeing that the UAV can accurately identify, load correctly, and stably execute flight missions. After adding step S21, the coordinates verified in step S30 are the formatted latitude and longitude coordinates.

[0034] Specifically, the coordinate order adjustment is carried out according to the coordinate resolution rules of the UAV flight control system, uniformly adjusting the latitude and longitude coordinates to a standard order. This ensures that the flight control system can correctly read the longitude, latitude, and altitude information, avoiding flight positioning errors caused by reversed coordinate order. Generally, the coordinate order is adjusted to "longitude L, latitude B, altitude H" to match the coordinate resolution rules of the UAV flight control system.

[0035] Elevation conversion involves transforming elevation data according to the operational requirements of the UAV: ​​when the flight control system requires relative elevation, the absolute elevation of each coordinate point is converted to its relative elevation relative to the takeoff point; when the flight control system requires absolute elevation, the original absolute elevation is directly retained to ensure accurate flight altitude control. Specifically, if relative elevation is used, the relative elevation of each coordinate point relative to the takeoff point is calculated, and its expression is: ( The absolute elevation of the takeoff point. For relative elevation, (This refers to the absolute elevation of the current coordinate point). If absolute elevation is used, the converted absolute elevation will be retained directly. .

[0036] Coordinate accuracy retention involves retaining decimal places for latitude and longitude coordinates and elevation data according to preset accuracy requirements (e.g., retaining latitude and longitude coordinates to 6 decimal places (accuracy of approximately 0.1m), and elevation to 1 decimal place). This ensures that the coordinate accuracy meets the requirements for UAV positioning and flight path operations, avoids positioning deviations and flight path offsets due to insufficient accuracy, and improves flight safety and operational precision.

[0037] In step S30 above, coordinate verification specifically includes: accuracy verification, consistency verification, coordinate format verification, and integrity verification. Among these: The accuracy verification is to calculate the error between the converted latitude and longitude coordinates and the theoretical geographic coordinates corresponding to the CAD origin, ensuring that the coordinate error is not greater than the preset accuracy threshold (e.g., 0.1m); if it exceeds the allowable error range, the accuracy is deemed unqualified.

[0038] Consistency verification involves importing latitude and longitude coordinates into GIS software (such as Google Earth) for visual comparison, verifying the spatial position consistency between the coordinate points and the original CAD points, and eliminating coordinate points whose spatial offset exceeds the allowable range.

[0039] The coordinate format verification checks whether the decimal places and coordinate signs of latitude and longitude coordinates are correct, such as east longitude being positive and west longitude being negative, and north latitude being positive and south longitude being negative; it also checks whether the coordinate order and data format conform to the parsing rules of the UAV flight control system.

[0040] Integrity verification checks for anomalies such as missing values, null values, and duplicate coordinate points in latitude and longitude coordinate data to ensure that the coordinate dataset is complete and free of anomalies.

[0041] If any of the above checks fails, return to step S20 to reconvert the latitude and longitude coordinates until the latitude and longitude coordinates pass all checks.

[0042] In step S40 above, the method for generating a UAV flight path file based on verified latitude and longitude coordinates is as follows: A UAV flight path file is generated based on verified latitude and longitude coordinates using a preset standardized template. In a specific embodiment, the standardized template is a KML template. The method for generating a UAV flight path file using a KML template includes four steps: KML template loading, data filling, parameter configuration, and file generation. Wherein: KML template loading loads a pre-defined standardized KML template. This template contains a complete document structure, flight path style, and elevation mode configuration. The core structure includes... <document> 、 <style>、<Placemark>、<LineString>、<coordinates>、<name>等标签，保证KML文件符合通用规范。

[0043] 数据填充为将经过格式处理与校验合格的经纬度坐标按航点顺序，依次填充至KML模板的<coordinates>标签中，并同时在<name>标签中填入对应的航线名称与航点名称，实现坐标数据与模板的精准匹配。

[0044] 参数配置为根据实际无人机作业需求，在KML模板中配置相应参数，包括航线样式参数（航线颜色、宽度）与高程模式参数（绝对高程模式absolute或相对高程模式relativeToGround），使航线配置与作业场景、飞控系统要求保持一致。

[0045] 文件生成为将完成数据填充与参数配置的KML模板进行保存，输出后缀为.kml的格式文件，形成可用于无人机加载与执行的无人机航线文件。

[0046] 通过标准化模板生成无人机可直接加载的无人机航线文件，实现坐标数据到飞行航线的快速转换，能够操作人员的专业门槛，进而提升航线生成效率与规范性，避免了人为操作错误，适配各类主流无人机飞控系统。

[0047] 在上述步骤S50中，航线校验包括：航线格式校验、路径校验、高程校验以及飞行适配校验。其中：航线格式校验为校验无人机航线文件的标签完整性、标签嵌套正确性，确保文件无缺失标签、无错误嵌套。在一个具体的实施例中，校验KML文件的标签完整性、标签嵌套正确性，确保无缺失标签、错误嵌套，符合KML2.2标准，防止无人机飞控系统无法识别或解析报错。

[0048] 路径校验为校验航线的整体连续性，确保航点之间无断点、无不合理交叉；同时计算相邻航点的飞行间距与转向角度，保证转向平稳、距离合理，消除飞行过程中的急转、碰撞风险。

[0049] 高程校验为校验各航点高程设置的合理性，确保相邻航点之间的高程差不大于预设的高程阈值（如0.5m），避免高程突变导致无人机高度失控；同时校验高程模式与无人机飞控系统要求保持一致。

[0050] 飞控适配校验为将航线文件导入主流无人机飞控模拟系统（如大疆飞控模拟器）中，验证文件可被正常加载、解析与执行，无报错、无异常提示，确保航线与飞控系统完全兼容。

[0051] 若上述任意一项校验不合格，则返回步骤S40重新生成无人机航线文件，直至无人机航线文件通过全部校验项。

[0052] 在上述步骤S60中，综合验证包括：坐标综合验证、航线模拟验证以及实际试飞验证。其中：坐标综合验证为再次通过GIS软件进行可视化验证，确认坐标点的空间位置与实际地理区域完全一致。

[0053] 航线模拟验证为通过无人机飞控模拟系统进行完整航线模拟飞行，验证航线的连续性、高程控制精度、转向合理性，确保飞行过程平稳、安全。

[0054] 实际试飞验证为选取少量关键航点进行实际无人机试飞，比对模拟飞行与实际飞行的偏差，确保航线满足无人机作业精度要求。

[0055] 经过步骤S60的综合验证后，即可将当前的无人机航线文件作为最终航线文件。

[0056] 在一个具体的实施例中，以采用CGCS2000大地基准面、高斯-克吕格3°带投影的CAD平面坐标为例，实现向无人机导航WGS84经纬度坐标的转换及KML航线生成。

[0057] 首先，从AutoCAD软件中导出某巡检区域的10个CAD平面坐标数据，形成CSV文件，部分数据如下表1所示：表1 CAD平面坐标数据表

[0058] 对上述CSV文件进行有效性校验，未发现异常数据点，因此，保留全部10个航点数据。

[0059] 接着，通过人机交互界面输入以下参数：大地基准面：CGCS2000，参数a=6378137m，f=1 / 298.257222101；投影方式：高斯-克吕格投影，3°带，中央子午线经度；辅助参数：投影面高程，高斯投影比例因子。

[0060] 基于高斯投影反算公式，对每个航点的CAD平面坐标进行转换。以航点P1为例，其，，计算过程如下：计算y偏移量：；通过高斯投影正算反推垂足纬度；计算椭球参数：，；计算卯酉圈曲率半径，，；代入大地纬度B计算公式，得到；代入大地经度L计算公式，得到。

[0061] 同理，完成其余9个航点的转换，输出经纬度坐标文件，如航点P1的转换结果为：点名P1，经度117.2345°，纬度34.7823°，绝对高程56.2m。

[0062] 该无人机飞控系统要求采用相对高程，起飞点为航点P1，其绝对高程，因此各航点的相对高程计算如下：P1：；P2：；P3：。

[0063] 调整坐标顺序为"经度、纬度、相对高程”，保留经纬度至小数点后6位，高程至小数点后1位，得到适配后的坐标数据集，如P1（117.234500,34.782300,0.0）。

[0064] 紧接着，对格式处理后的10个航点坐标进行坐标校验：精度校验：计算各航点转换后的经纬度坐标与理论地理坐标的误差，均≤0.1m，精度合格；一致性校验：将所有航点坐标导入谷歌地球，与CAD原巡检区域的点位空间位置完全匹配，无偏移，一致性合格；坐标格式校验：经纬度小数位数均为6位，经度为东经（正值），纬度为北纬（正值），坐标顺序均为"经度、纬度、高程”，格式合格；完整性校验：无缺失、空值、重复的坐标点，完整性合格。

[0065] 所有航点坐标校验合格，进入下一步航线生成环节。

[0066] 然后，加载标准化KML模板，填充适配后的坐标数据，配置航线样式为红色（color=ff0000ff）、宽度3，高程模式为相对高程模式（relativeToGround），生成KML航线文件。

[0067] 进一步对生成的KML航线文件进行全方位校验：航线格式校验：KML文件标签完整、嵌套正确，符合KML2.2标准，格式合格；路径校验：10个航点之间路径连续，无断点、无交叉，相邻航点转向角度平稳，距离合理，路径合格；高程校验：相邻航点高程差均≤0.5m，无高程突变，高程模式与飞控系统要求一致，高程合格；飞行适配校验：将KML文件导入大疆精灵4RTK飞控模拟器，可正常解析，无报错提示，适配性合格。

[0068] KML航线文件校验合格，进行综合验证：坐标综合验证：将经纬度坐标导入谷歌地球，确认所有航点均位于目标巡检区域内，空间位置与实际一致；航线模拟验证：通过大疆精灵4 RTK飞控模拟器进行完整航线模拟飞行，航线连续流畅，高程控制精准，转向平稳，无任何异常；实际试飞验证：选取P1、P5、P10三个关键航点进行实际试飞，模拟飞行与实际飞行的偏差≤0.1m，满足巡检作业精度要求，验证通过，得到最终航线文件。

[0069] 基于与上述方法的同一发明构思，本发明还提出一种基于CAD图纸的无人机航线生成系统，包括：数据获取模块，用于获取CAD平面坐标数据，并对CAD平面坐标数据进行有效性校验；转换模块，用于基于预先配置好的坐标系参数，通过投影反算将经过效性校验的CAD平面坐标数据转换为大地坐标系下的经纬度坐标；坐标校验模块，用于对经纬度坐标进行坐标校验，若校验不合格则返回步骤S20修正，直至校验合格；初步航线生成模块，用于基于校验合格的经纬度坐标生成无人机航线文件；航线校验模块，用于对无人机航线文件进行航线校验，若校验不合格则返回步骤S40修正，直至校验合格；最终航线生成模块，用于对校验合格的经纬度坐标与无人机航线文件进行综合验证，得到最终航线文件。

[0070] 基于与上述方法的同一发明构思，本发明还提出一种设备，包括存储器和处理器，存储器上存储有能够在处理器上运行的计算机指令，其特征在于，处理器运行计算机指令时执行上述的一种基于CAD图纸的无人机航线生成方法。

[0071] 基于与上述方法的同一发明构思，本发明还提出一种计算机可读存储介质，其上存储有计算机指令，当计算机指令运行时，可以实现上述的一种基于CAD图纸的无人机航线生成方法。

[0072] 其中，本发明所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和 / 或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。

[0073] 需要说明的是，在本文中，诸如"第一”和"第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语"包括”、"包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句"包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。

[0074] 尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。< / style> < / document>

Claims

1. A method for generating UAV flight paths based on CAD drawings, characterized in that, include: S10. Obtain CAD plane coordinate data and verify the validity of the CAD plane coordinate data; S20. Based on the pre-configured coordinate system parameters, the CAD plane coordinate data that has passed validity verification is converted into latitude and longitude coordinates in the geodetic coordinate system through projection back calculation. S30. Perform coordinate verification on the latitude and longitude coordinates. If the verification fails, return to step S20 to correct until the verification is successful. S40. Generate UAV flight path files based on verified latitude and longitude coordinates; S50. Verify the UAV route file. If the verification fails, return to step S40 to correct it until the verification is successful. S60. Perform a comprehensive verification of the qualified latitude and longitude coordinates and the UAV flight path file to obtain the final flight path file.

2. The method for generating UAV flight paths based on CAD drawings according to claim 1, characterized in that, The CAD plane coordinate data includes point name, X coordinate, Y coordinate and elevation data.

3. The method for generating UAV flight paths based on CAD drawings according to claim 2, characterized in that, The coordinate system parameters include: geodetic datum parameters, projection method parameters, and auxiliary parameters; wherein, the geodetic datum parameters include the semi-major axis and flattening of the ellipsoid; the projection method parameters include the projection type, the zonal type, and the longitude of the central meridian; and the auxiliary parameters include the projection surface elevation and the Gaussian projection scale factor. The method for inverse projection calculation is Gaussian projection inverse calculation.

4. The method for generating UAV flight paths based on CAD drawings according to claim 2, characterized in that, After step S20, the method further includes: S21. Perform format processing on the latitude and longitude coordinates; wherein, the format processing includes coordinate order adjustment, elevation conversion and coordinate accuracy preservation.

5. The method for generating UAV flight paths based on CAD drawings according to claim 2, characterized in that, The coordinate verification includes: accuracy verification, consistency verification, coordinate format verification, and integrity verification.

6. The method for generating UAV flight paths based on CAD drawings according to claim 2, characterized in that, The process of generating UAV flight path files based on verified latitude and longitude coordinates specifically involves generating UAV flight path files based on verified latitude and longitude coordinates using a preset KML template.

7. The method for generating UAV flight paths based on CAD drawings according to claim 2, characterized in that, The route verification includes: route format verification, path verification, elevation verification, and flight compatibility verification.

8. The method for generating UAV flight paths based on CAD drawings according to claim 2, characterized in that, The comprehensive verification includes: coordinate comprehensive verification, flight path simulation verification, and actual flight test verification.

9. A device comprising a memory and a processor, wherein the memory stores computer instructions executable on the processor, characterized in that, When the processor executes the computer instructions, it performs a method for generating UAV flight paths based on CAD drawings as described in any one of claims 1 to 8.

10. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the computer instructions are executed, a method for generating UAV flight paths based on CAD drawings, as described in any one of claims 1 to 8, can be implemented.

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