CN113885559A - Method, device, medium and equipment for acquiring emergency return altitude path of unmanned aerial vehicle - Google Patents
Method, device, medium and equipment for acquiring emergency return altitude path of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a method, a device, a medium and equipment for acquiring an emergency return altitude path of an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring emergency return flight height path request information sent by an unmanned aerial vehicle when the unmanned aerial vehicle patrols and examines a transformer substation, wherein the emergency return flight height path request information comprises three-dimensional coordinate parameters of the position of the unmanned aerial vehicle; acquiring a virtual position of the unmanned aerial vehicle in historical point cloud data of the transformer substation according to the three-dimensional coordinate parameters; acquiring a return flight height value, and acquiring a corresponding return flight height horizontal plane from historical point cloud data according to the return flight height value; acquiring a plurality of flight active points between the virtual position and a return flight height horizontal plane; obtaining a moving path avoiding the obstacle point according to the virtual position, the plurality of flight active points and the return flight height horizontal plane; and sending the moving path to the unmanned aerial vehicle to drive the unmanned aerial vehicle to fly to a return flight height horizontal plane along the moving path. The invention can obtain the path from point cloud data to the target height.
Description
Technical Field
The invention relates to the technical field of emergency control of unmanned aerial vehicles, in particular to an unmanned aerial vehicle emergency return altitude path acquisition method, device, medium and equipment.
Background
When the unmanned aerial vehicle enters an emergency state, the unmanned aerial vehicle should first escape from the scene as soon as possible, and a general solution is to lift off or descend on the spot. However, if in the process of lifting off or descending, there may be charged objects or obstacles above and below the unmanned aerial vehicle, and accidents may be caused by forced lifting or descending.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings in the prior art, and provides a method, a device, a medium and equipment for acquiring an emergency return altitude path of an unmanned aerial vehicle, which can search for a path which can safely fly to a target altitude in point cloud data, so that the unmanned aerial vehicle can avoid an obstacle to fly to the position of the target altitude.
One embodiment of the invention provides an unmanned aerial vehicle emergency return altitude path acquisition method, which comprises the following steps:
acquiring emergency return flight height path request information sent by an unmanned aerial vehicle when the unmanned aerial vehicle patrols and examines a transformer substation, wherein the emergency return flight height path request information comprises a three-dimensional coordinate parameter of the position of the unmanned aerial vehicle;
acquiring a virtual position of the unmanned aerial vehicle in historical point cloud data of a transformer substation according to the three-dimensional coordinate parameters; wherein the historical point cloud data identifies obstacle points and flight activity points that avoid the obstacle points;
acquiring a return flight height value, and acquiring a corresponding return flight height horizontal plane from the historical point cloud data according to the return flight height value;
acquiring a plurality of flight activity points between the virtual position and the return flight height horizontal plane;
obtaining a moving path avoiding the obstacle point according to the virtual position, the plurality of flight active points and the return flight height horizontal plane;
and sending the moving path to the unmanned aerial vehicle so as to drive the unmanned aerial vehicle to fly to the return flight height horizontal plane along the moving path.
Compared with the prior art, the method for acquiring the emergency return flight height path of the unmanned aerial vehicle can acquire the virtual position of the unmanned aerial vehicle in the historical point cloud data of the transformer substation according to the three-dimensional coordinate parameter of the position of the unmanned aerial vehicle, and then plan the path according to the return flight height value and the flight activity point so as to obtain the moving path avoiding the obstacle point and send the moving path to the unmanned aerial vehicle. Make unmanned aerial vehicle can avoid the barrier to fly to the position of target height.
Further, the step of obtaining a moving path avoiding the obstacle point according to the virtual position, the plurality of flight activity points, and the return flight altitude level includes:
obtaining a plurality of candidate moving paths according to the virtual position, the plurality of flight active points and the return flight height horizontal plane;
acquiring size parameters of the unmanned aerial vehicle, constructing a virtual object according to the size parameters, and driving the virtual object to move along a plurality of candidate movement paths respectively;
and if the distances between the virtual object and the adjacent obstacle points are larger than or equal to a preset safe distance in the moving process of the virtual object, taking the candidate moving path where the virtual object is located as the moving path. And simulating the condition that the unmanned aerial vehicle moves along the moving path through the virtual object so as to screen out an effective moving path.
Further, after the steps of obtaining the size parameter of the unmanned aerial vehicle, constructing a virtual object according to the size parameter, and driving the virtual object to move along the plurality of candidate movement paths, the method further includes:
if the distance between one side of the virtual object and the adjacent obstacle point is smaller than the safe distance in the moving process of the virtual object, deleting the flight activity point at the position of the virtual object, driving the virtual object to be far away from the obstacle point so as to enable the distance between the virtual object and the adjacent obstacle point to be larger than or equal to the safe distance, and determining the point at the current position of the virtual object as a new flight activity point;
and replacing the deleted flight activity points with new flight activity points, and generating a candidate moving path avoiding the obstacle points according to the virtual position, each flight activity point and the return flight altitude level so as to update the candidate moving path. And simulating the situation that the unmanned aerial vehicle moves along the moving path through the virtual object, and deleting and adding the flight activity points, thereby updating the moving path.
Further, after the steps of obtaining the size parameter of the unmanned aerial vehicle, constructing a virtual object according to the size parameter, and driving the virtual object to move along the plurality of candidate movement paths, the method further includes:
and if the distances between the two sides of the virtual object and the adjacent barrier points are smaller than the safe distance in the moving process of the virtual object, determining the corresponding candidate moving path as an invalid moving path and deleting the invalid moving path. Through the virtual object simulates the situation that the unmanned aerial vehicle moves along the moving path, the invalid moving path is screened out and deleted, and accidents caused by the fact that the unmanned aerial vehicle moves along the invalid moving path are avoided.
Further, the acquiring a plurality of flight activity points between the virtual position and the fly-back altitude horizontal plane includes the following steps:
acquiring longitude and latitude coordinates of the unmanned aerial vehicle according to the three-dimensional coordinate parameters of the unmanned aerial vehicle;
obtaining a target area parallel to the altitude level according to the longitude and latitude coordinates, the return voyage height value and a preset radius value;
and acquiring each flight activity point between the virtual position and the target area. In order to reduce the data processing, the target area is obtained based on a preset radius value, so that the flight activity point between the virtual position and the target area is obtained.
Further, the obtaining of the target area parallel to the altitude level according to the longitude and latitude coordinates, the return voyage height value and a preset radius value includes the following steps:
and obtaining a circular area parallel to the altitude horizontal plane according to the longitude and latitude coordinates and the radius value on the horizontal plane where the return navigation height value is located, and determining the circular area as the target area.
Further, after acquiring the plurality of flight activity points between the virtual position and the return flight altitude horizontal plane, the method further comprises the following steps:
acquiring real-time point cloud data obtained by scanning the unmanned aerial vehicle through a laser radar;
and acquiring real-time obstacle points in the real-time point cloud data, and updating corresponding flight activity points in the historical point cloud data into obstacle points when the real-time obstacle points are overlapped with the flight activity points in the historical point cloud data. And correcting the flight activity points in the historical point cloud data according to the real-time data, so that a movement path with higher safety at a planning position is facilitated.
The invention also provides an unmanned aerial vehicle emergency return flight height path acquisition device, which comprises:
the system comprises a return flight height path request information acquisition module, a return flight height path request information acquisition module and a return flight height path request information acquisition module, wherein the return flight height path request information acquisition module acquires emergency return flight height path application information sent by an unmanned aerial vehicle when the unmanned aerial vehicle patrols and examines a transformer substation, and the emergency return flight height path application information comprises three-dimensional coordinate parameters of the position where the unmanned aerial vehicle is located;
the virtual position acquisition module is used for acquiring historical point cloud data of the transformer substation according to longitude and latitude coordinates in the three-dimensional coordinate parameters and acquiring a virtual position of the unmanned aerial vehicle in the historical point cloud data according to the three-dimensional coordinate parameters; wherein the historical point cloud data identifies obstacle points for obstacles and flight activity points that avoid the obstacles;
the poster height horizontal plane acquisition module is used for acquiring a return flight height value and acquiring a corresponding return flight height horizontal plane from the historical point cloud data according to the return flight height value;
the flight active point acquisition module is used for acquiring a plurality of flight active points between the virtual position and the return flight height horizontal plane;
the moving path generating module is used for obtaining a moving path avoiding the obstacle point according to the virtual position, the plurality of flight activity points and the return flight height horizontal plane;
and the execution module is used for sending the moving path to the unmanned aerial vehicle so as to drive the unmanned aerial vehicle to fly to the return flight height horizontal plane along the moving path.
Compared with the prior art, the unmanned aerial vehicle emergency return flight height path acquisition device can acquire the virtual position of the unmanned aerial vehicle in the historical point cloud data of the transformer substation according to the three-dimensional coordinate parameter of the position of the unmanned aerial vehicle, and then perform path planning according to the return flight height value and the flight activity point to obtain the moving path avoiding the obstacle point and send the moving path to the unmanned aerial vehicle. Make unmanned aerial vehicle can avoid the barrier to fly to the position of target height.
The invention also provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the method for acquiring the emergency return altitude path of the unmanned aerial vehicle as described above.
The invention also provides computer equipment which comprises a storage, a processor and a computer program stored in the storage and executable by the processor, wherein the processor executes the computer program to realize the steps of the unmanned aerial vehicle emergency return altitude path acquisition method.
In order that the invention may be more clearly understood, specific embodiments thereof will be described hereinafter with reference to the accompanying drawings.
Drawings
Fig. 1 is a flowchart of an unmanned aerial vehicle emergency return altitude path acquisition method according to an embodiment of the present invention.
Fig. 2 is a flowchart of steps S71-S72 of the method for acquiring an emergency return altitude path of an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 3 is a flowchart of steps S73-S74 of the method for acquiring an emergency return altitude path of an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 4 is a flowchart of steps S41-S43 of the method for acquiring an emergency return altitude path of an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 5 is a flowchart of steps S44-S45 of the method for acquiring an emergency return altitude path of an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 6 is a module connection diagram of an emergency return altitude path acquisition device for an unmanned aerial vehicle according to an embodiment of the present invention.
1. A return flight height path request information acquisition module; 2. a virtual position acquisition module; 3. a poster height level acquisition module; 4. a flight activity point acquisition module; 5. a movement path generation module; 6. and executing the module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, which is a flowchart of an unmanned aerial vehicle emergency return altitude path acquiring method according to an embodiment of the present invention, the acquiring method is applied to a situation that an unmanned aerial vehicle enters an emergency state and needs to move to a position with a specified altitude to leave a site, and returns from the position, and includes the following steps:
s1, acquiring emergency return flight height path request information sent by the unmanned aerial vehicle when the unmanned aerial vehicle patrols and examines the transformer substation, wherein the emergency return flight height path request information comprises the three-dimensional coordinate parameter of the position of the unmanned aerial vehicle.
The three-dimensional coordinate parameters comprise longitude and latitude and altitude of the position where the unmanned aerial vehicle is located.
S2, acquiring a virtual position of the unmanned aerial vehicle in historical point cloud data of a transformer substation according to the three-dimensional coordinate parameters; wherein the historical point cloud data identifies obstacle points and flight activity points that avoid the obstacle points.
The historical point cloud data is obtained by performing laser scanning on the transformer substation in the past. The point cloud data is a set of vectors in a three-dimensional coordinate system, and is recorded in the form of points, each point including three-dimensional coordinates, and some points may include color information or reflection intensity information. The color information is usually obtained by a camera to obtain a color image, and then the color information of the pixel at the corresponding position is assigned to the corresponding point in the point cloud, and the reflection intensity information is obtained by the echo intensity collected by the laser scanner receiving device, and the intensity information is related to the surface material, roughness, and incident angle direction of the target, and the emission energy and laser wavelength of the instrument.
And S3, acquiring a return flight height value, and acquiring a corresponding return flight height horizontal plane from the historical point cloud data according to the return flight height value.
And S4, acquiring a plurality of flight activity points between the virtual position and the return flight height horizontal plane.
And S5, obtaining a moving path avoiding the obstacle point according to the virtual position, the plurality of flight activity points and the return flight height horizontal plane.
S6, sending the moving path to the unmanned aerial vehicle so as to drive the unmanned aerial vehicle to fly to the return flight height level along the moving path.
Compared with the prior art, the method for acquiring the emergency return flight height path of the unmanned aerial vehicle can acquire the virtual position of the unmanned aerial vehicle in the historical point cloud data of the transformer substation according to the three-dimensional coordinate parameter of the position of the unmanned aerial vehicle, and then plan the path according to the return flight height value and the flight activity point so as to obtain the moving path avoiding the obstacle point and send the moving path to the unmanned aerial vehicle. Make unmanned aerial vehicle can avoid the barrier to fly to the position of target height.
Referring to fig. 2, in a possible embodiment, the step S5 of obtaining a moving path avoiding the obstacle point according to the virtual position, the flight activity points, and the fly-back altitude level includes:
and S51, obtaining a plurality of candidate moving paths according to the virtual position, the plurality of flight activity points and the return flight height level.
S52, obtaining the size parameters of the unmanned aerial vehicle, constructing a virtual object according to the size parameters, and driving the virtual object to move along the candidate moving paths respectively.
Wherein the dimensional parameters include the overall length, width and height of the drone; preferably, in order to better simulate the space occupied by the rotation of the wing during the flight of the unmanned aerial vehicle, a circular virtual component corresponding to the wing can be constructed on the virtual object according to the length and the central position of the wing.
S53, if the distances between the virtual object and the adjacent obstacle points are larger than or equal to a preset safe distance in the moving process of the virtual object, taking the candidate moving path where the virtual object is located as the moving path.
The distance between the virtual object and the adjacent obstacle point may be a distance between a center point of the virtual object and the adjacent obstacle point, or a distance between one point of an outer surface of the virtual object and the adjacent obstacle point. The safe distance is set by a user, and the safe distance is used for detecting whether the distance between the virtual object and the adjacent obstacle point is within a range where danger is easy to occur.
Referring to fig. 3, in this embodiment, the situation that the unmanned aerial vehicle moves along the moving path is simulated by the virtual object, so as to screen out an effective moving path, so that the unmanned aerial vehicle can fly smoothly through the effective moving path.
In a possible embodiment, after the step of S51, acquiring a size parameter of the drone, constructing a virtual object according to the size parameter, and driving the virtual object to move along the plurality of candidate movement paths, the method further includes:
s54, if the distance between one side of the virtual object and the adjacent obstacle point is smaller than the safe distance in the moving process of the virtual object, deleting the flight activity point at the position of the virtual object, driving the virtual object to be far away from the obstacle point so that the distance between the virtual object and the adjacent obstacle point is larger than or equal to the safe distance, and determining the current position point of the virtual object as a new flight activity point;
and S55, replacing the deleted flight activity points with new flight activity points, and generating candidate moving paths avoiding the obstacle points according to the virtual positions, the flight activity points and the return flight altitude level to update the candidate moving paths.
In this embodiment, when the distance between one side of the virtual object and the adjacent obstacle point is smaller than the safe distance during the movement of the virtual object, it indicates that the virtual object is likely to collide during the flight along the current movement path, but the movement path is attempted to be updated, so as to obtain a safe and effective movement path. And updating the moving path is realized by replacing the deleted flight activity point with the new flight activity point. And simulating the situation that the unmanned aerial vehicle moves along the moving path through the virtual object, and deleting and adding the flight activity points, thereby updating the moving path.
In a possible embodiment, after the step of S51, acquiring a size parameter of the drone, constructing a virtual object according to the size parameter, and driving the virtual object to move along the plurality of candidate movement paths, the method further includes:
and S56, if the distances between the two sides of the virtual object and the adjacent obstacle points are smaller than the safe distance in the moving process of the virtual object, determining the corresponding candidate moving path as an invalid moving path and deleting the invalid moving path.
When the virtual object removes the in-process, appears the virtual object both sides respectively with adjacent the distance of obstacle is less than safe distance's the condition, represents the virtual object is followed security when the removal route removes is low, and the danger of colliding easily takes place, consequently passes through virtual object simulation unmanned aerial vehicle follows the condition that the removal route removed is screened out invalid removal route and is deleted, avoids unmanned aerial vehicle to remove and meet an accident along invalid removal route.
Referring to fig. 4, in a possible embodiment, the step S4 of obtaining a plurality of flight activity points between the virtual position and the fly-back altitude level includes the following steps:
s41, acquiring longitude and latitude coordinates of the unmanned aerial vehicle according to the three-dimensional coordinate parameters of the unmanned aerial vehicle.
And S42, obtaining a target area parallel to the altitude level according to the longitude and latitude coordinates, the return voyage height value and a preset radius value.
And S43, acquiring each flight activity point between the virtual position and the target area.
Preferably, the preset radius value includes at least 2 radius values with different sizes, and the application process is as follows: the method comprises the steps of obtaining a target area with a smaller range according to a radius value with a small numerical value, obtaining each flight activity point between a virtual position and the target area with the smaller range, and generating a moving path, obtaining a target area with a larger range according to a radius value with larger data when the flight activity points of the target area with the smaller range cannot form a complete moving path or the formed moving path is invalid, and obtaining each flight activity point between the virtual position and the target area with the larger range and generating the moving path.
If the range of the target area obtained according to the return flight altitude value is not limited, a lot of data processing amount is increased, the target area is limited through a preset radius value, and then the target area is obtained based on the preset radius value, so that the flight activity point between the virtual position and the target area is obtained, the data processing amount can be reduced, and the moving path can be obtained more quickly.
Preferably, the obtaining a target area parallel to the altitude level according to the longitude and latitude coordinates, the return voyage height value and a preset radius value includes the following steps:
and obtaining a circular area parallel to the altitude horizontal plane according to the longitude and latitude coordinates and the radius value on the horizontal plane where the return navigation height value is located, and determining the circular area as the target area.
Referring to fig. 5, in a possible embodiment, after obtaining a plurality of flight activity points between the virtual position and the fly-back altitude level in step S4, the method further includes the following steps:
s44, acquiring real-time point cloud data obtained by scanning the unmanned aerial vehicle through a laser radar;
and S45, acquiring real-time obstacle points in the real-time point cloud data, and updating corresponding flight activity points in the historical point cloud data into obstacle points when the real-time obstacle points are overlapped with the flight activity points in the historical point cloud data.
In order to avoid the situation that the flying activity points at corresponding positions become obstacle points due to exposure of charged objects (such as electric wires) caused by human or accident, the unmanned aerial vehicle scans the surrounding environment by real-time laser radar to obtain real-time point cloud data, and the flying activity points in the historical point cloud data are corrected according to the real-time data, so that a moving path with higher safety at a planning place is facilitated.
Referring to fig. 6, the present invention further provides an apparatus for acquiring an emergency return altitude path of an unmanned aerial vehicle, including:
the method comprises the steps that a return flight height path request information acquisition module 1 acquires emergency return flight height path application information sent by an unmanned aerial vehicle when the unmanned aerial vehicle patrols and examines a transformer substation, wherein the emergency return flight height path application information comprises three-dimensional coordinate parameters of the position of the unmanned aerial vehicle;
the virtual position acquisition module 2 is used for acquiring historical point cloud data of the transformer substation according to longitude and latitude coordinates in the three-dimensional coordinate parameters, and acquiring a virtual position of the unmanned aerial vehicle in the historical point cloud data according to the three-dimensional coordinate parameters; wherein the historical point cloud data identifies obstacle points for obstacles and flight activity points that avoid the obstacles;
the poster height horizontal plane acquisition module 3 is used for acquiring a return flight height value and acquiring a corresponding return flight height horizontal plane from the historical point cloud data according to the return flight height value;
a flight active point acquisition module 4, configured to acquire a plurality of flight active points between the virtual position and the return flight altitude level;
a moving path generating module 5, configured to obtain a moving path that avoids the obstacle point according to the virtual position, the plurality of flight activity points, and the return flight altitude level;
and the execution module 6 is used for sending the moving path to the unmanned aerial vehicle so as to drive the unmanned aerial vehicle to fly to the return flight height horizontal plane along the moving path.
The three-dimensional coordinate parameters comprise longitude and latitude and altitude of the position where the unmanned aerial vehicle is located.
The historical point cloud data is obtained by performing laser scanning on the transformer substation in the past. The point cloud data is a set of vectors in a three-dimensional coordinate system, and is recorded in the form of points, each point including three-dimensional coordinates, and some points may include color information or reflection intensity information. The color information is usually obtained by a camera to obtain a color image, and then the color information of the pixel at the corresponding position is assigned to the corresponding point in the point cloud, and the reflection intensity information is obtained by the echo intensity collected by the laser scanner receiving device, and the intensity information is related to the surface material, roughness, and incident angle direction of the target, and the emission energy and laser wavelength of the instrument.
Compared with the prior art, the unmanned aerial vehicle emergency return flight height path acquisition device can acquire the virtual position of the unmanned aerial vehicle in the historical point cloud data of the transformer substation according to the three-dimensional coordinate parameter of the position of the unmanned aerial vehicle, and then perform path planning according to the return flight height value and the flight activity point to obtain the moving path avoiding the obstacle point and send the moving path to the unmanned aerial vehicle. Make unmanned aerial vehicle can avoid the barrier to fly to the position of target height.
The invention also provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the method for acquiring the emergency return altitude path of the unmanned aerial vehicle as described above.
The invention also provides computer equipment which comprises a storage, a processor and a computer program stored in the storage and executable by the processor, wherein the processor executes the computer program to realize the steps of the unmanned aerial vehicle emergency return altitude path acquisition method.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle emergency return flight height path obtaining method is characterized by comprising the following steps:
acquiring emergency return flight height path request information sent by an unmanned aerial vehicle when the unmanned aerial vehicle patrols and examines a transformer substation, wherein the emergency return flight height path request information comprises a three-dimensional coordinate parameter of the position of the unmanned aerial vehicle;
acquiring a virtual position of the unmanned aerial vehicle in historical point cloud data of a transformer substation according to the three-dimensional coordinate parameters; wherein the historical point cloud data identifies obstacle points and flight activity points that avoid the obstacle points;
acquiring a return flight height value, and acquiring a corresponding return flight height horizontal plane from the historical point cloud data according to the return flight height value;
acquiring a plurality of flight activity points between the virtual position and the return flight height horizontal plane;
obtaining a moving path avoiding the obstacle point according to the virtual position, the plurality of flight active points and the return flight height horizontal plane;
and sending the moving path to the unmanned aerial vehicle so as to drive the unmanned aerial vehicle to fly to the return flight height horizontal plane along the moving path.
2. The method for acquiring the emergency return flight path of the unmanned aerial vehicle according to claim 1, wherein the step of acquiring the moving path avoiding the obstacle point according to the virtual position, the flight activity points, and the return flight level comprises:
obtaining a plurality of candidate moving paths according to the virtual position, the plurality of flight active points and the return flight height horizontal plane;
acquiring size parameters of the unmanned aerial vehicle, constructing a virtual object according to the size parameters, and driving the virtual object to move along a plurality of candidate movement paths respectively;
and if the distances between the virtual object and the adjacent obstacle points are larger than or equal to a preset safe distance in the moving process of the virtual object, taking the candidate moving path where the virtual object is located as the moving path.
3. The method for acquiring the emergency fly-back altitude path of the unmanned aerial vehicle as claimed in claim 2, wherein after the steps of acquiring the size parameter of the unmanned aerial vehicle, constructing a virtual object according to the size parameter, and driving the virtual object to move along the plurality of candidate movement paths, the method further comprises:
if the distance between one side of the virtual object and the adjacent obstacle point is smaller than the safe distance in the moving process of the virtual object, deleting the flight activity point at the position of the virtual object, driving the virtual object to be far away from the obstacle point so as to enable the distance between the virtual object and the adjacent obstacle point to be larger than or equal to the safe distance, and determining the point at the current position of the virtual object as a new flight activity point;
and replacing the deleted flight activity points with new flight activity points, and generating a candidate moving path avoiding the obstacle points according to the virtual position, each flight activity point and the return flight altitude level so as to update the candidate moving path.
4. The method for acquiring the emergency fly-back altitude path of the unmanned aerial vehicle as claimed in claim 3, wherein after the steps of acquiring the size parameter of the unmanned aerial vehicle, constructing a virtual object according to the size parameter, and driving the virtual object to move along the plurality of candidate movement paths, the method further comprises:
and if the distances between the two sides of the virtual object and the adjacent barrier points are smaller than the safe distance in the moving process of the virtual object, determining the corresponding candidate moving path as an invalid moving path and deleting the invalid moving path.
5. The method for acquiring the emergency return altitude path of the unmanned aerial vehicle according to claim 1, wherein the acquiring a plurality of flight activity points between the virtual position and the return altitude level comprises the following steps:
acquiring longitude and latitude coordinates of the unmanned aerial vehicle according to the three-dimensional coordinate parameters of the unmanned aerial vehicle;
obtaining a target area parallel to the altitude level according to the longitude and latitude coordinates, the return voyage height value and a preset radius value;
and acquiring each flight activity point between the virtual position and the target area.
6. The method for acquiring the emergency return flight height path of the unmanned aerial vehicle as claimed in claim 5, wherein the step of obtaining the target area parallel to the altitude level according to the longitude and latitude coordinates, the return flight height value and a preset radius value comprises the following steps:
and obtaining a circular area parallel to the altitude horizontal plane according to the longitude and latitude coordinates and the radius value on the horizontal plane where the return navigation height value is located, and determining the circular area as the target area.
7. The method for acquiring the emergency return flight path of the unmanned aerial vehicle according to claim 1, wherein after acquiring a plurality of flight activity points between the virtual position and the return flight altitude level, the method further comprises the following steps:
acquiring real-time point cloud data obtained by scanning the unmanned aerial vehicle through a laser radar;
and acquiring real-time obstacle points in the real-time point cloud data, and updating corresponding flight activity points in the historical point cloud data into obstacle points when the real-time obstacle points are overlapped with the flight activity points in the historical point cloud data.
8. The utility model provides an urgent high route acquisition device that navigates back of unmanned aerial vehicle which characterized in that includes:
the system comprises a return flight height path request information acquisition module, a return flight height path request information acquisition module and a return flight height path request information acquisition module, wherein the return flight height path request information acquisition module acquires emergency return flight height path application information sent by an unmanned aerial vehicle when the unmanned aerial vehicle patrols and examines a transformer substation, and the emergency return flight height path application information comprises three-dimensional coordinate parameters of the position where the unmanned aerial vehicle is located;
the virtual position acquisition module is used for acquiring historical point cloud data of the transformer substation according to longitude and latitude coordinates in the three-dimensional coordinate parameters and acquiring a virtual position of the unmanned aerial vehicle in the historical point cloud data according to the three-dimensional coordinate parameters; wherein the historical point cloud data identifies obstacle points for obstacles and flight activity points that avoid the obstacles;
the poster height horizontal plane acquisition module is used for acquiring a return flight height value and acquiring a corresponding return flight height horizontal plane from the historical point cloud data according to the return flight height value;
the flight active point acquisition module is used for acquiring a plurality of flight active points between the virtual position and the return flight height horizontal plane;
the moving path generating module is used for obtaining a moving path avoiding the obstacle point according to the virtual position, the plurality of flight activity points and the return flight height horizontal plane;
and the execution module is used for sending the moving path to the unmanned aerial vehicle so as to drive the unmanned aerial vehicle to fly to the return flight height horizontal plane along the moving path.
9. A computer-readable storage medium storing a computer program, characterized in that: the computer program, when executed by a processor, implements the steps of the method for acquiring an emergency fly-back altitude path of a drone according to any one of claims 1 to 7.
10. A computer device, characterized by: comprising a memory, a processor and a computer program stored in the memory and executable by the processor, the processor implementing the steps of the unmanned aerial vehicle emergency fly-back altitude path acquisition method according to any one of claims 1 to 7 when executing the computer program.
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