CN112987781A - Unmanned aerial vehicle route generation method and device - Google Patents
Unmanned aerial vehicle route generation method and device Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle route generation method and device. The method comprises the following steps: acquiring three-dimensional point cloud of a target tower from a base tower model library; acquiring a waypoint of the target tower according to the three-dimensional point cloud of the target tower; and generating a route according to the waypoint of at least one target tower. The scheme of the invention can utilize the tower model of the foundation to carry out dead reckoning, thereby reducing the working intensity of the dead spot operation of the dead spot, saving the working time of the dead spot, and meeting the conditions of existence of three-dimensional point cloud and nonexistence of the three-dimensional point cloud.
Description
Technical Field
The invention relates to the technical field of route processing of unmanned aerial vehicles, in particular to a method and a device for generating routes of unmanned aerial vehicles.
Background
At present transmission line patrols and examines work and patrols and examines the propulsion to unmanned aerial vehicle comprehensively, but the transmission line environment is complicated, the scene is more, only rely on the flight that the flight hand carried out the visual range in can not satisfy actual production demand, and abominable environment is a challenge to the flight hand, and the mode of operating unmanned aerial vehicle through the flight hand, the proficiency that relies on the flight hand very much, and unmanned aerial vehicle price is on the high side, the condition that the new hand dares not to operate appears very easily, working strength is big, the problem that the timeliness is poor also the transmission line patrols and examines the problem that exists.
At present, inspection work begins to be explored from a manual mode to an autonomous inspection mode, and the conventional autonomous inspection is mainly based on the advance flight path planning and the high-precision RTK technology, so that the high-precision automatic flight is carried out by using the planned flight path. In the process, route planning is an important premise for autonomous inspection, and currently, two general route planning methods are mainly adopted: firstly, manual pricking is carried out according to the three-dimensional point cloud, the hovering position of the unmanned aerial vehicle, the tripod head angle of the unmanned aerial vehicle and the like are determined on the three-dimensional point cloud, the three-dimensional pricking result is recorded in a database for storage, and when the unmanned aerial vehicle flies, the three-dimensional pricking result is extracted from the database according to a flight tower to form a flight line and is issued to the unmanned aerial vehicle for flying; and secondly, a skilled flyer inspects the pole tower according to the inspection requirement, photographs and records the photographing point position and the adjusted holder angle, records the photographing point position and the adjusted holder angle into the database for storage, extracts a corresponding waypoint from the database according to the number of the inspected pole tower during the next flight operation to generate a route, and performs autonomous flight.
Above two kinds of autonomic modes of patrolling and examining all can not leave manual operation, or need the manual thorn of staff, every point location of every base tower all needs the manual record of people to get off, or need the flight hand to go the scene and carry out the flight operation and note the waypoint and come, and work load is big like this, and is inefficient.
Disclosure of Invention
The invention aims to provide a method and a device for planning routes of an unmanned aerial vehicle. The tower model of the foundation is used for dead reckoning, the working intensity of the dead spot operation is reduced, the working time of the dead spot is saved, and the conditions of existence of three-dimensional point cloud and absence of three-dimensional point cloud are met.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention discloses an unmanned aerial vehicle route generation method, which comprises the following steps:
acquiring three-dimensional point cloud of a target tower from a base tower model library;
acquiring a waypoint of the target tower according to the three-dimensional point cloud of the target tower;
and generating a route according to the waypoint of at least one target tower.
Optionally, the base tower model library is formed through the following processes:
establishing a three-dimensional point cloud model of a foundation tower;
according to the three-dimensional point cloud model, carrying out pricking operation on a tower to obtain a waypoint record of the foundation tower;
and storing the waypoint records to the base tower model library.
Optionally, according to the three-dimensional point cloud model, performing a pricking operation on a tower to obtain a waypoint record of the foundation tower, including:
obtaining a foundation tower of a determined type from the three-dimensional point cloud model;
and marking the longitude and latitude and the height of the suspension point of the unmanned aerial vehicle, the basic orientation and the suspension point of the unmanned aerial vehicle and the type of a shooting component of the unmanned aerial vehicle at the suspension point for the type of the foundation tower to obtain the navigation point record of the type of the foundation tower.
Optionally, the obtaining of the three-dimensional point cloud of the target tower from the base tower model library includes:
if the target tower exists in the base tower model base, acquiring three-dimensional point cloud of the target tower; and if the target tower does not exist in the base tower model library, performing a puncturing operation on the target tower to obtain a waypoint record of the target tower, storing the waypoint record of the target tower into the base tower model library, and acquiring the three-dimensional point cloud of the target tower from the base tower model library.
Optionally, obtaining a waypoint of the target tower according to the three-dimensional point cloud of the target tower includes:
obtaining parameters of the target tower according to the three-dimensional point cloud of the target tower;
and acquiring the waypoint of the target tower according to the parameters of the target tower.
Optionally, the parameters of the target tower include: the center point coordinates of the target pole tower and the included angle between the target pole tower and the east-righting direction.
Optionally, obtaining the waypoint of the target tower according to the parameter of the target tower includes:
performing linear coordinate transformation processing according to the coordinates of the central point of the target tower to obtain the coordinates of the component points of the target tower;
and acquiring the navigation point of the target tower according to the component point coordinates of the target tower, the yaw angle, the pitch angle and the safe distance of the target tower.
Optionally, obtaining the waypoint of the target tower according to the coordinates of the component points of the target tower, the yaw angle, the pitch angle and the safe distance of the target tower includes:
using the formula:
acquiring a waypoint coordinate of the target tower;
determining a waypoint of the target tower according to the waypoint coordinates, the yaw angle and the pitch angle of the target tower;
wherein x isWaypointIs the coordinate value on the x-axis of the waypoint; y isWaypointIs a coordinate value on the y-axis of the waypoint; x is the number ofComponent pointIs the coordinate value on the x-axis of the component point; y isComponent pointIs the coordinate value on the y-axis of the component point; m is a preset safety distance between the unmanned aerial vehicle and a target pole tower component point; the waypoints comprise a waypoint coordinate, a yaw angle and a pitch angle]。
The invention provides an unmanned aerial vehicle route generation device, which comprises:
the acquisition module is used for acquiring three-dimensional point cloud of a target tower from the base tower model library;
the processing module is used for obtaining a navigation point of the target tower according to the three-dimensional point cloud of the target tower;
and the generating module is used for generating a route according to the waypoint of at least one target tower.
The present invention is a processor-readable storage medium having stored thereon processor-executable instructions for causing a processor to perform the above-described method.
The scheme of the invention at least comprises the following beneficial effects:
according to the scheme, the three-dimensional point cloud of the target tower is obtained from the base tower model library; acquiring a waypoint of the target tower according to the three-dimensional point cloud of the target tower; and generating a route according to the waypoint of at least one target tower. The invention utilizes the tower model of the foundation to calculate the waypoint, reduces the working intensity of the waypoint pricking operation, saves the working time of the pricking operation and meets the conditions of existence and nonexistence of three-dimensional point cloud.
Drawings
Fig. 1 is a schematic flow chart of a method for generating routes for unmanned aerial vehicles according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of building a base tower model base in the unmanned aerial vehicle route generation method according to the embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating rules of oblique photography in a method for generating a course of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating the determination of the type of a target tower in the unmanned aerial vehicle route generation method according to the embodiment of the present invention;
FIG. 5 is a schematic flow chart of a dead reckoning algorithm in the unmanned aerial vehicle route generation method according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of a yaw angle in a method for generating a course of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a pitch angle in the unmanned aerial vehicle route generation method according to the embodiment of the present invention;
FIG. 8 is a schematic diagram of a safe distance in a method for generating a course of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 9 is a schematic block diagram of an unmanned aerial vehicle route generation device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a method for generating routes for an unmanned aerial vehicle, where the method includes:
step 11, acquiring three-dimensional point cloud of a target tower from a base tower model library;
and step 13, generating a route according to the waypoint of at least one target tower.
In this embodiment, the base tower model base includes waypoint record information obtained after performing a predetermined type of point puncturing operation on a base tower, and the waypoint of the target tower is obtained from the base tower model base, a point taking operation is performed on the three-dimensional point cloud, required parameters are recorded, a waypoint calculation is performed by using the parameters, and finally a waypoint of the target tower is obtained, and at least one waypoint of the target tower is obtained until a complete route is generated. According to the embodiment of the invention, the tower model of the foundation is utilized to calculate the waypoint, so that the working intensity of waypoint pricking work is reduced, the working time of the pricking work is saved, and the situations of existence of three-dimensional point cloud and nonexistence of the three-dimensional point cloud are met.
In an optional embodiment of the present invention, in step 11, the base tower model library is formed through the following processes:
step 111, establishing a three-dimensional point cloud model of a foundation tower;
112, performing pricking operation on a pole tower according to the three-dimensional point cloud model to obtain a waypoint record of the foundation pole tower;
and 113, storing the waypoint records to the base tower model library.
In this embodiment, as shown in fig. 2, step 111 may include: establishing a three-dimensional point cloud model for a foundation tower in an oblique photography or laser radar mode; the oblique photography is different from the common vertical angle photography, as shown in fig. 3, the photographing rule is that images are synchronously acquired from a vertical angle, four oblique angles and five different visual angles, and the actual situation of a photographed object can be observed from multiple angles;
step 112 may specifically include:
obtaining a foundation tower of a determined type from the three-dimensional point cloud model;
and marking the longitude and latitude and the height of the suspension point of the unmanned aerial vehicle, the basic orientation and the suspension point of the unmanned aerial vehicle and the type of a shooting component of the unmanned aerial vehicle at the suspension point for the type of the foundation tower to obtain the navigation point record of the type of the foundation tower.
In the embodiment, the type of a basic pole tower is selected firstly, and then manual pricking is carried out on the pole tower by using flight path planning software, wherein the specific pricking contents comprise: the longitude and latitude and the height of the suspension point of the unmanned aerial vehicle, the basic orientation and the suspension point of the unmanned aerial vehicle and the main shooting component type of the unmanned aerial vehicle at the suspension point are sequenced according to the sequence of the basic pole towers;
and 113, establishing a waypoint record for the foundation tower according to the information obtained by the artificial thorn point, and storing a waypoint record result into a foundation model library.
In an optional embodiment of the present invention, in step 11, obtaining a three-dimensional point cloud of a target tower from a base tower model library includes:
step 114, if the target tower exists in the base tower model base, acquiring three-dimensional point cloud of the target tower;
and if the target tower does not exist in the base tower model library, performing a puncturing operation on the target tower to obtain a waypoint record of the target tower, storing the waypoint record of the target tower into the base tower model library, and acquiring the three-dimensional point cloud of the target tower from the base tower model library.
In this embodiment, a three-dimensional point cloud of a target tower is obtained from an established base tower model library, as shown in fig. 4, first, it is determined whether the target tower already exists in the base model library, and if so, the three-dimensional point cloud is obtained from the base tower model library; and if not, performing manual pricking on the target tower, recording the type of the tower into a base model library, and acquiring the three-dimensional point cloud from the base tower model library.
In an optional embodiment of the present invention, step 12 may include:
step 121, obtaining parameters of the target tower according to the three-dimensional point cloud of the target tower;
and step 122, acquiring a waypoint of the target tower according to the parameters of the target tower.
In this example, there are two ways to obtain the parameters of the target tower in step 121:
the first method is as follows: if the three-dimensional point cloud exists in the target tower, performing point taking operation on the three-dimensional point cloud, and recording parameters of the tower;
the second method comprises the following steps: and if the tower does not have the three-dimensional point cloud, flying to the position right above the tower by using the unmanned aerial vehicle, and recording the parameters of the target tower.
The parameters of the target tower comprise: the center point coordinates of the target pole tower and the included angle between the target pole tower and the east-righting direction. The coordinates of the central point of the target tower comprise longitude, latitude and height of the target tower.
In an optional embodiment of the present invention, in step 122, a dead reckoning algorithm is used to perform reckoning on the target tower with the obtained parameters, and finally, a dead reckoning algorithm is used to generate a dead reckoning of the tower, which specifically includes:
1221, performing coordinate linear transformation processing according to the coordinates of the central point of the target tower to obtain coordinates of component points of the target tower;
and 1222, obtaining a navigation point of the target tower according to the component point coordinates of the target tower, the yaw angle, the pitch angle and the safe distance of the target tower.
In this embodiment, in step 1221, a linear coordinate transformation process is performed according to the obtained coordinates of the center point of the target tower, where the linear coordinate transformation specifically includes coordinate rotation, coordinate scaling transformation, and coordinate translation, so as to obtain coordinates of the component point of the target tower.
In an optional embodiment of the present invention, in step 1222, the waypoint coordinates are obtained finally by performing processing such as formula calculation and transformation according to the component point coordinates of the target tower, the preset yaw angle, the pitch angle, and the safety distance. The method specifically comprises the following steps:
using the formula:
acquiring a waypoint coordinate of the target tower;
determining a waypoint of the target tower according to the waypoint coordinates, the yaw angle and the pitch angle of the target tower;
wherein x isWaypointIs the coordinate value on the x-axis of the waypoint; y isWaypointIs a coordinate value on the y-axis of the waypoint; x is the number ofComponent pointIs the coordinate value on the x-axis of the component point; y isComponent pointIs the coordinate value on the y-axis of the component point; m is a preset safety distance between the unmanned aerial vehicle and a target pole tower component point; the waypoints comprise a waypoint coordinate, a yaw angle and a pitch angle]。
As shown in fig. 5, performing dead reckoning first determines whether a three-dimensional point cloud exists on a target tower, if not, records parameters required for field flight operation, if so, records parameters of the target tower based on the three-dimensional point cloud, then performs dead reckoning based on a base tower model library by using a dead reckoning algorithm, and continues to perform the same processing on other towers until a complete route is generated.
The basic principle of dead reckoning needs to be explained as follows: whether the tower is the foundation tower used for establishing the airline library or the target tower is calculated, the coordinates of the center point of the tower are needed, including longitude, latitude and height. The coordinates can be obtained in a point cloud or by positioning with an unmanned aerial vehicle on the spot. The coordinates of the components and the coordinates of the navigation points of the towers of the same type can be translated, rotated and stretched by utilizing the linear transformation of the coordinates under the geodetic coordinate system, so that the components and the coordinates of the navigation points are mechanically applied to the target tower, and the geodetic coordinate system is converted into the longitude and latitude to obtain the route of the target tower.
In a specific embodiment, the target tower is a linear tower, and the waypoint acquiring steps are as follows:
step S1, calculating the direction angle of the tower under the geodetic coordinate system through the ground wire coordinates of the left side and the right side of the tower used by the tower model base, namely, the included angle between the left side machine head direction and the positive direction (east) of the X axis with reference to the left side machine head direction during photographing;
step S2, calculating the direction angle of the target pole tower by calculating the coordinates of the central points of two adjacent pole towers of the target line, namely the included angle between the left machine head direction and the positive direction (east) of the X axis in photographing;
s3, translating the original component point in the base tower model library to a target tower, and adjusting the height according to the height difference of the target tower;
step S4, rotating around the coordinate of the center point of the target tower according to the direction angle between the base tower and the target tower, wherein the transformation formula is as follows:
step S5, rotating the geodetic coordinate system to make the coordinate axis parallel to the direction of the target tower, wherein the transformation formula is as follows:
step S6, performing expansion transformation on the component points, wherein the transformation formula is as follows:
step S7, restoring the coordinate system of the component point after the telescopic transformation to the direction of the geodetic coordinate system, wherein the transformation formula is as follows:
step S8, calculating to obtain the final generated waypoint coordinates according to the set safe distance M, wherein the calculation formula is as follows:
step S9, the final waypoint composition includes [ waypoint coordinates, yaw angle, pitch angle ].
As shown in fig. 6, the yaw angle is an included angle between the nose direction of the unmanned aerial vehicle and the due north direction; as shown in fig. 7, the pitch angle is the included angle between the pan and tilt head and the horizontal direction; as shown in fig. 8, the safety distance is the distance between the drone and the tower assembly point, and the specific value is determined according to empirical values, and there are different settings according to the line voltage level, for example, 500kV is preferably set to be a distance of 10 meters.
After the steps are completed, the calculated component point coordinates of the target pole tower can be obtained, and the navigation point coordinates are calculated according to the component point coordinates, the set yaw angle, the set pitch angle and the set safety distance, so that the functions of manually setting parameters and adjusting positions of the calculated navigation point can be guaranteed.
It should be noted that, the above-mentioned method is a method of generating a waypoint of a target tower, and generating a route of the unmanned aerial vehicle requires at least one waypoint of a tower until a complete route is generated.
Compared with a mode of manually pricking point clouds, the method and the device for generating the route have the advantages that the corresponding waypoints and the route can be generated by comparing the towers with the existing point clouds in a tower model library; for the tower without point cloud, after recording the longitude, latitude and height of the tower and the deflection angle between the tower and the east by taking a waypoint, waypoint planning can be carried out according to the existing basic model library to generate corresponding waypoints and routes. The working intensity of the navigation point pricking work is reduced, the working time of the pricking work is saved, and the situations of existence of three-dimensional point cloud and nonexistence of the three-dimensional point cloud are met.
As shown in fig. 9, an embodiment of the present invention further provides an unmanned aerial vehicle route generation apparatus 90, where the apparatus 90 includes:
the acquiring module 91 is used for acquiring the three-dimensional point cloud of the target tower from the base tower model library;
the processing module 92 is configured to obtain a waypoint of the target tower according to the three-dimensional point cloud of the target tower;
and the generating module 93 is configured to generate a route according to the waypoint of the at least one target tower.
Optionally, the base tower model library is formed through the following processes:
establishing a three-dimensional point cloud model of a foundation tower;
according to the three-dimensional point cloud model, carrying out pricking operation on a tower to obtain a waypoint record of the foundation tower;
and storing the waypoint records to the base tower model library.
Optionally, according to the three-dimensional point cloud model, performing a pricking operation on a tower to obtain a waypoint record of the foundation tower, including:
obtaining a foundation tower of a determined type from the three-dimensional point cloud model;
and marking the longitude and latitude and the height of the suspension point of the unmanned aerial vehicle, the basic orientation and the suspension point of the unmanned aerial vehicle and the type of a shooting component of the unmanned aerial vehicle at the suspension point for the type of the foundation tower to obtain the navigation point record of the type of the foundation tower.
Optionally, the obtaining of the three-dimensional point cloud of the target tower from the base tower model library includes:
if the target tower exists in the base tower model base, acquiring three-dimensional point cloud of the target tower; and if the target tower does not exist in the base tower model library, performing a puncturing operation on the target tower to obtain a waypoint record of the target tower, storing the waypoint record of the target tower into the base tower model library, and acquiring the three-dimensional point cloud of the target tower from the base tower model library.
Optionally, obtaining a waypoint of the target tower according to the three-dimensional point cloud of the target tower includes:
obtaining parameters of the target tower according to the three-dimensional point cloud of the target tower;
and acquiring the waypoint of the target tower according to the parameters of the target tower.
Optionally, the parameters of the target tower include: the center point coordinates of the target pole tower and the included angle between the target pole tower and the east-righting direction.
Optionally, obtaining the waypoint of the target tower according to the parameter of the target tower includes:
performing linear coordinate transformation processing according to the coordinates of the central point of the target tower to obtain the coordinates of the component points of the target tower;
and acquiring the navigation point of the target tower according to the component point coordinates of the target tower, the yaw angle, the pitch angle and the safe distance of the target tower.
Optionally, obtaining the waypoint of the target tower according to the coordinates of the component points of the target tower, the yaw angle, the pitch angle and the safe distance of the target tower includes:
using the formula:
acquiring a waypoint coordinate of the target tower;
determining a waypoint of the target tower according to the waypoint coordinates, the yaw angle and the pitch angle of the target tower;
wherein x isWaypointIs the coordinate value on the x-axis of the waypoint; y isWaypointIs a coordinate value on the y-axis of the waypoint; x is the number ofComponent pointIs the coordinate value on the x-axis of the component point; y isComponent pointIs the coordinate value on the y-axis of the component point; m is a preset unmanned plane and eyeSafe distances between marker post tower assembly points; the waypoints comprise a waypoint coordinate, a yaw angle and a pitch angle]。
It should be noted that the apparatus is an apparatus corresponding to the above method, and all the implementations of the above method are applicable to the embodiment of the apparatus, and the same technical effects can be achieved.
Embodiments of the present invention also provide a processor-readable storage medium having stored thereon processor-executable instructions for causing a processor to perform the method as described above.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
Furthermore, it is to be noted that in the device and method of the invention, it is obvious that the individual components or steps can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of performing the series of processes described above may naturally be performed chronologically in the order described, but need not necessarily be performed chronologically, and some steps may be performed in parallel or independently of each other. It will be understood by those skilled in the art that all or any of the steps or elements of the method and apparatus of the present invention may be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or any combination thereof, which can be implemented by those skilled in the art using their basic programming skills after reading the description of the present invention.
Thus, the objects of the invention may also be achieved by running a program or a set of programs on any computing device. The computing device may be a general purpose device as is well known. The object of the invention is thus also achieved solely by providing a program product comprising program code for implementing the method or the apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is to be understood that the storage medium may be any known storage medium or any storage medium developed in the future. It is further noted that in the apparatus and method of the present invention, it is apparent that each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of executing the series of processes described above may naturally be executed chronologically in the order described, but need not necessarily be executed chronologically. Some steps may be performed in parallel or independently of each other.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An unmanned aerial vehicle route generation method, the method comprising:
acquiring three-dimensional point cloud of a target tower from a base tower model library;
acquiring a waypoint of the target tower according to the three-dimensional point cloud of the target tower;
and generating a route according to the waypoint of at least one target tower.
2. The unmanned aerial vehicle route generation method of claim 1, wherein the base tower model library is formed by:
establishing a three-dimensional point cloud model of a foundation tower;
according to the three-dimensional point cloud model, carrying out pricking operation on a tower to obtain a waypoint record of the foundation tower;
and storing the waypoint records to the base tower model library.
3. The unmanned aerial vehicle route generation method of claim 2, wherein the obtaining of the waypoint record of the base tower by performing a pricking operation on the tower according to the three-dimensional point cloud model comprises:
obtaining a foundation tower of a determined type from the three-dimensional point cloud model;
and marking the longitude and latitude and the height of the suspension point of the unmanned aerial vehicle, the basic orientation and the suspension point of the unmanned aerial vehicle and the type of a shooting component of the unmanned aerial vehicle at the suspension point for the type of the foundation tower to obtain the navigation point record of the type of the foundation tower.
4. The unmanned aerial vehicle route generation method of claim 1, wherein obtaining the three-dimensional point cloud of the target tower from the base tower model library comprises:
if the target tower exists in the base tower model base, acquiring three-dimensional point cloud of the target tower;
and if the target tower does not exist in the base tower model library, performing a puncturing operation on the target tower to obtain a waypoint record of the target tower, storing the waypoint record of the target tower into the base tower model library, and acquiring the three-dimensional point cloud of the target tower from the base tower model library.
5. The unmanned aerial vehicle route generation method of claim 1, wherein obtaining the waypoint of the target tower from the three-dimensional point cloud of the target tower comprises:
obtaining parameters of the target tower according to the three-dimensional point cloud of the target tower;
and acquiring the waypoint of the target tower according to the parameters of the target tower.
6. The unmanned aerial vehicle route generation method of claim 5, wherein the parameters of the target tower comprise: the center point coordinates of the target pole tower and the included angle between the target pole tower and the east-righting direction.
7. The unmanned aerial vehicle route generation method of claim 6, wherein obtaining waypoints for the target tower based on the parameters of the target tower comprises:
performing linear coordinate transformation processing according to the coordinates of the central point of the target tower to obtain the coordinates of the component points of the target tower;
and acquiring the navigation point of the target tower according to the component point coordinates of the target tower, the yaw angle, the pitch angle and the safe distance of the target tower.
8. The unmanned aerial vehicle route generation method of claim 7, wherein obtaining the waypoint of the target tower according to the component point coordinates of the target tower and the yaw angle, pitch angle and safe distance of the target tower comprises:
using the formula:
acquiring a waypoint coordinate of the target tower;
determining a waypoint of the target tower according to the waypoint coordinates, the yaw angle and the pitch angle of the target tower;
wherein x isWaypointIs the coordinate value on the x-axis of the waypoint; y isWaypointIs a coordinate value on the y-axis of the waypoint; x is the number ofComponent pointIs the coordinate value on the x-axis of the component point; y isComponent pointIs the coordinate value on the y-axis of the component point; m is a preset safety distance between the unmanned aerial vehicle and a target pole tower component point; the waypoints comprise a waypoint coordinate, a yaw angle and a pitch angle]。
9. An unmanned aerial vehicle route generation device, comprising:
the acquisition module is used for acquiring three-dimensional point cloud of a target tower from the base tower model library;
the processing module is used for obtaining a navigation point of the target tower according to the three-dimensional point cloud of the target tower;
and the generating module is used for generating a route according to the waypoint of at least one target tower.
10. A processor-readable storage medium having stored thereon processor-executable instructions for causing a processor to perform the method of any one of claims 1 to 8.
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