CN117470251B - Method and device for planning survey route, electronic equipment and storage medium - Google Patents
Method and device for planning survey route, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a planning method, a planning device, electronic equipment and a storage medium for a survey area route, which relate to the technical field of unmanned aerial vehicle aerial survey and comprise the following steps: acquiring a polygonal area to be measured; setting parallel line groups for the polygonal area to determine a target intersection point set and a target line segment set between the polygonal area and the parallel line groups; dividing the polygonal region into a plurality of sub-regions based on the line segments in the polygonal region in the target line segment set, and planning the access sequence of the sub-regions to obtain a region ordering result; and connecting each intersection point in the target intersection point set according to the region sequencing result to obtain a route corresponding to the polygonal region. The invention can plan and obtain the route which can meet the operation requirement in both applicability and execution efficiency.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle aerial survey, in particular to a method and a device for planning a survey area route, electronic equipment and a storage medium.
Background
In the field of unmanned aerial vehicle aerial survey, tasks such as orthophotography and the like are often required to be executed on a ground area. When the unmanned aerial vehicle covers the ground area through the execution route, the onboard camera photographs the ground area for many times at a downward angle of 90 degrees, and finally, digital products such as an orthographic image can be produced. At present, related technologies provide route planning algorithms of unmanned aerial vehicles such as a cow farming method, a trapezoid unit decomposition method, a grid method and the like, although the algorithms can ensure effective full coverage of a ground area, routes obtained through planning often do not have high efficiency, most areas are usually irregular areas, the route planning cannot adapt to various situations and has low planning efficiency, and therefore, a route planning method which can meet operation requirements in both applicability and execution efficiency is needed.
Disclosure of Invention
Accordingly, the present invention is directed to a method, an apparatus, an electronic device, and a storage medium for planning a survey route, which can plan a route having applicability and execution efficiency that satisfy the operation requirements.
In a first aspect, an embodiment of the present invention provides a method for planning a survey route, including:
Acquiring a polygonal area to be measured;
Setting parallel line groups aiming at the polygonal area to determine a target intersection point set and a target line segment set between the polygonal area and the parallel line groups;
Dividing the polygonal region into a plurality of subareas based on line segments positioned in the polygonal region in the target line segment set, and planning the access sequence of the subareas to obtain a region ordering result;
And connecting each intersection point in the target intersection point set according to the region sequencing result to obtain a route corresponding to the polygonal region.
In one embodiment, the step of setting a parallel line group for the polygonal region to determine a set of target intersections and a set of target line segments between the polygonal region and the parallel line group includes:
Setting parallel line groups for the polygonal area according to the target course corresponding to the polygonal area; the direction of the parallel line group is consistent with the target course, the parallel line distance corresponding to the parallel line group is related to one or more of side direction overlapping rate, flying height and camera parameters, and the nearest distance between the parallel line group and a designated point in the polygonal area is related to preset constraint;
Intersecting the parallel line groups with the polygonal region to obtain an initial intersection point set between the polygonal region and the parallel line groups, and dividing each parallel line in the parallel line groups into an initial line segment set;
And merging the intersection points in the initial intersection point set to update the initial intersection point set and the initial line segment set to obtain a target intersection point set and a target line segment set.
In one embodiment, the step of merging the intersection points in the initial intersection point set to update the initial intersection point set and the initial line segment set to obtain a target intersection point set and a target line segment set includes:
For each parallel line in the parallel line family, determining the number of intersection points between the parallel line and the polygonal area, and determining that each line segment obtained by dividing the parallel line is positioned in the polygonal area or positioned outside the polygonal area based on the number of intersection points;
And for the line segments outside the polygonal area, if the length of the line segments is smaller than a preset length threshold value, eliminating the intersection points corresponding to the line segments from the initial intersection point set to update the initial intersection point set and the initial line segment set so as to obtain a target intersection point set and a target line segment set.
In one embodiment, the step of dividing the polygonal region into a plurality of sub-regions based on line segments within the polygonal region in the target line segment set includes:
for the line segments in the polygon area in the target line segment set, if the two line segments belong to the same parallel line, determining that the two line segments belong to different areas if the distance between the same side endpoints in the two line segments is greater than a preset distance threshold; if the distance between the same side endpoints in the two line segments is smaller than the preset distance threshold, determining that the two line segments belong to the same area;
Or for the line segments in the polygon area in the target line segment set, determining that the two line segments belong to different areas under the condition that the two line segments do not belong to the same parallel line;
and dividing the polygonal area into a plurality of subareas based on the area to which each line segment belongs.
In one embodiment, the step of planning the access sequence of the subareas to obtain an area ordering result includes:
Determining the area occupation ratio of each subarea;
determining a representative point corresponding to each subarea based on the area occupation ratio of the subareas;
and taking the shortest range as an optimization target, and planning the access sequence of the subareas based on a preset departure point, a preset return point and the representative point corresponding to each subarea, or based on the preset departure point, the preset return point, a preset auxiliary access point and the representative point corresponding to each subarea to obtain an area sequencing result.
In one embodiment, the step of determining the representative point corresponding to each sub-region based on the area occupation ratio of the region includes:
If the area occupation ratio of the area is smaller than a preset occupation ratio threshold value, taking the designated point in the subarea as a representative point corresponding to the subarea;
Or if the area ratio of the area is larger than the preset ratio threshold, taking each entry point in the subarea as a representative point corresponding to the subarea; the entry points are obtained by sequencing intersection points contained in the subareas according to preset route requirements.
In one embodiment, the step of acquiring the polygonal area to be measured includes:
and acquiring an initial polygonal area, determining a target course corresponding to the polygonal area, and performing expansion processing on the polygonal area based on the target course to obtain the polygonal area to be detected.
In a second aspect, an embodiment of the present invention further provides a device for planning a survey route, including:
the detection zone acquisition module is used for acquiring a polygonal detection zone to be detected;
The intersection point and line segment determining module is used for setting parallel line groups aiming at the polygonal area so as to determine a target intersection point set and a target line segment set between the polygonal area and the parallel line groups;
The region dividing and sequencing module is used for dividing the polygonal region into a plurality of sub-regions based on the line segments positioned in the polygonal region in the target line segment set, and planning the access sequence of the sub-regions to obtain a region sequencing result;
And the route planning module is used for connecting each intersection point in the target intersection point set according to the region sequencing result so as to obtain a route corresponding to the polygonal region.
In a third aspect, an embodiment of the present invention further provides an electronic device comprising a processor and a memory storing computer-executable instructions executable by the processor to implement the method of any one of the first aspects.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of the first aspects.
The embodiment of the invention provides a planning method, a planning device, electronic equipment and a storage medium for a survey area route, which are characterized in that firstly, a polygonal survey area to be measured is obtained, parallel line groups are arranged for the polygonal survey area, and a target intersection point set and a target line segment set between the polygonal survey area and the parallel line groups are determined; then dividing the polygonal region into a plurality of sub-regions based on the line segments in the polygonal region in the target line segment set, and planning the access sequence of the sub-regions to obtain a region ordering result; and finally, connecting each intersection point in the target intersection point set according to the region sequencing result to obtain a route corresponding to the polygonal region. According to the method, the target line segment set is determined through the polygonal region and the parallel line groups, so that the polygonal region is divided based on the line segments in the polygonal region in the target line segment set, access sequence planning is conducted on the subareas obtained through division, each intersection point in the target intersection point set is connected according to the regional sequencing result obtained through planning, and the route which can meet the operation requirements in both applicability and execution efficiency is obtained, so that the efficiency of the route obtained through planning can be remarkably improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a method for planning a survey route according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of an orthographic route according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a planning apparatus for a survey route according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
At present, the route planning algorithm of the unmanned aerial vehicle provided by the related technology often has no high efficiency, and the applicability and the execution efficiency of the route obtained by planning cannot meet the operation requirement.
For the sake of understanding the present embodiment, first, a detailed description will be given of a method for planning a survey route according to an embodiment of the present invention, referring to a flow chart of a method for planning a survey route shown in fig. 1, the method mainly includes steps S102 to S108 as follows:
Step S102, a polygon area to be measured is obtained.
In one embodiment, the area to be measured is first abstracted into an initial polygonal area, and then the initial polygonal area is subjected to expansion based on the determined target heading, so that the polygonal area can be obtained. The unmanned aerial vehicle can collect the region to be detected more comprehensively through the outward expansion processing.
Step S104, parallel line groups are arranged for the polygonal area, so that a target intersection point set and a target line segment set between the polygonal area and the parallel line groups are determined.
The target intersection point set is a set formed by intersection points between parallel line groups and the polygonal area, and the target line segment set is a set formed by line segments between the two intersection points. In one embodiment, parallel line groups can be arranged along the direction of the target course, an initial intersection point set and an initial line segment set can be obtained by intersecting the parallel line groups with the polygon area, and the intersection points in the initial intersection point set are combined to update the initial intersection point set and the initial line segment set, so that the target intersection point set and the target line segment set are obtained. According to the embodiment of the invention, through merging the intersection points, the unmanned aerial vehicle can directly cross some narrow non-area areas, so that the complexity of route planning is reduced, and the number of route turns is reduced.
And S106, dividing the polygonal region into a plurality of sub-regions based on the line segments in the polygonal region in the target line segment set, and planning the access sequence of the sub-regions to obtain a region ordering result.
In one embodiment, the polygonal area may be divided according to a relative positional relationship between line segments located within the polygonal area to obtain a plurality of sub-areas, and then the representative points of the sub-areas are determined, so as to combine the flying spot, the return spot, and the representative points of the sub-areas to plan the access sequence of the sub-areas. Optionally, to avoid some non-area areas, auxiliary access points may be added, that is, the access sequence of the sub-areas may be planned in combination with the departure point, the return point, the auxiliary access point and the representative point of each sub-area. The relative positional relationship may include a distance between adjacent line segments on the same side.
And S108, connecting each intersection point in the target intersection point set according to the region sequencing result to obtain a route corresponding to the polygonal region.
Wherein, the route can be an orthographic route. In one embodiment, the intersection points in the target intersection point set, namely the waypoints, are connected with all the waypoints in each sub-region according to the region sequencing result, and then the orthographic route corresponding to the whole region to be tested can be obtained.
According to the planning method for the regional route provided by the embodiment of the invention, the target line segment set is determined through the polygonal region and the parallel line groups, so that the polygonal region is divided based on the line segments in the polygonal region in the target line segment set, the access sequence is planned for the subareas obtained by division, each intersection point in the target intersection point set is connected according to the regional sequencing result obtained by planning, and the route with the applicability and the execution efficiency meeting the operation requirement is obtained, so that the efficiency of the orthographic route obtained by planning can be remarkably improved.
For easy understanding, the embodiment of the invention provides a specific implementation mode of a planning method for a survey route.
For the foregoing step S102, the embodiment of the present invention provides an implementation manner of acquiring the polygonal area to be measured, see the following steps A1 to A2:
and step A1, acquiring an initial polygonal area.
In one example, the region to be measured may be abstracted into a polygon on one plane, i.e., the initial polygon area.
And step A2, determining a target course corresponding to the polygonal region, and performing expansion processing on the polygonal region based on the target course to obtain the polygonal region to be detected.
In one example, a target heading is first determined, specifically: the initial polygonal area is placed under the northeast earth coordinate system, the positive east is the positive x-axis direction, the positive north is the positive y-axis direction, the included angle between the heading and the positive north meets the mapping service requirement, such as the heading can be parallel to the long axis of the polygonal circumscribed rectangle of the area, and the coordinate system is rotated to enable the heading to be along the y-axis direction, so that the target heading corresponding to the initial polygonal area is obtained.
In one example, the initial polygonal region is then subjected to a process of expansion based on the target heading to obtain a polygonal region, specifically: the scale of the expansion processing should meet the mapping service requirement, such as a lateral direction is increased by one navigation belt, the heading is increased by two baselines, and the polygon after the expansion is the polygon area.
For the foregoing step S104, the embodiment of the present invention provides an implementation manner of setting parallel line groups for the polygonal area to determine the target intersection point set and the target line segment set between the polygonal area and the parallel line groups, see the following steps B1 to B3:
and B1, setting parallel line groups for the polygonal area according to the target heading corresponding to the polygonal area.
The direction of the parallel line group is consistent with the target course, the parallel line distance corresponding to the parallel line group is related to one or more of side direction overlapping rate, flying height and camera parameters, the nearest distance between the parallel line group and a specified point in the polygonal area is related to a preset constraint, and the preset constraint can be shortest course or centering of the course.
In one example, a parallel line family is defined, the direction of which is the target heading (i.e., the y-axis direction), and the spacing of the parallel lines is determined based on mapping business requirements, such as calculated from the side lap, the altitude, and camera parameters, with the spacing of the parallel lines being positively correlated to the side lap. In the specific implementation, after the side direction overlapping rate is determined, the camera parameters such as the focal length of the camera, the size of the camera sensor and the like and the flying height can be combined, the distance interval between two adjacent photos can be calculated, and for the side direction, the distance interval can embody the distance between two adjacent navigation belts, and the distance is the distance between parallel line groups. In another embodiment, the spacing between parallel lines may also be set manually.
In one example, the closest distance of the parallel line family from the centroid in the polygonal region is determined based on constraints such as shortest range or route centering. When the method is concretely implemented, the parallel line groups are translated at a distance smaller than the parallel line distance, so that relative position change exists between the parallel line groups and the polygonal area, and the relative position change is represented by the nearest distance between the parallel line groups and the mass center in the polygonal area. By way of example, assuming the constraint is that the route is centered, the distance between a parallel line in the parallel line family and the centroid of the polygonal region may be set to 0; or if the constraint is that the range is shortest, the parallel line groups can be offset so as to achieve the purpose of shortening the whole range.
And B2, intersecting the parallel line groups with the polygonal region to obtain an initial intersection point set between the polygonal region and the parallel line groups, and dividing each parallel line in the parallel line groups into an initial line segment set.
In one example, the intersections of the parallel lines and the polygonal regions are calculated and arranged in a left-to-right, bottom-to-top order, i.e., in a xy coordinate order from small to large. For the number of intersections of a certain straight line in the parallel line family and the polygonal area, there may be multiple possibilities of 1,2,3, 4, 5, etc., all the intersections form an initial intersection set, and line segments between two adjacent intersection points form an initial line segment set.
And B3, merging the intersection points in the initial intersection point set to update the initial intersection point set and the initial line segment set to obtain a target intersection point set and a target line segment set. In a specific embodiment, reference may be made to the following steps B3-1 to B3-2:
And B3-1, determining the number of intersection points between the parallel lines and the polygonal area for each parallel line in the parallel line group, and determining that each line segment obtained by dividing the parallel line is positioned in the polygonal area or positioned outside the polygonal area based on the number of intersection points.
In one example, since the intersections of the same straight line are arranged in order of the y-coordinate, it is easy to determine whether the line segment between the two intersections is located inside or outside the polygon area based on the number of intersections. For example, assuming that the number of intersections of the same straight line is 6, a line segment between the first intersection and the second intersection belongs to a region of the area (i.e., is located within the polygon area), a line segment between the second intersection and the third intersection belongs to a non-region of the area (i.e., is located outside the polygon area), and so on, it is obtained whether each line segment belongs to the region of the area or the non-region of the area.
And B3-2, for the line segments outside the polygonal area, if the length of the line segments is smaller than a preset length threshold value, removing the intersection points corresponding to the line segments from the initial intersection point set to update the initial intersection point set and the initial line segment set, thereby obtaining a target intersection point set and a target line segment set.
In one example, for a line segment in a non-measured area region, if the length of the line segment is smaller than a preset length threshold, two intersection points corresponding to the line segment are deleted, which is equivalent to merging the two intersection points with a previous intersection point and a next intersection point, and is equivalent to merging a line segment between the two intersection points with the previous line segment and the next line segment, so that the update of an initial intersection point set and an initial line segment set is realized, and a target intersection point set and a target line segment set are obtained.
The significance of the step B3-2 is that: the unmanned aerial vehicle directly spans some narrow non-area areas, so that the complexity of route planning is reduced, and the number of route turns is reduced. However, in the case of a long-distance non-area, the unmanned aerial vehicle needs to be practically avoided based on the saved range or safety factors (avoidance of high obstacles, no-fly areas, etc.).
For the foregoing step S106, the embodiment of the present invention provides an implementation manner of dividing a polygonal region into a plurality of sub-regions based on line segments located in the polygonal region in the target line segment set, and planning the access sequence of the sub-regions to obtain a region ordering result, which is referred to in the following steps C1 to C6:
Step C1, for the line segments in the polygon area in the target line segment set, if the distance between the same side endpoints in the two line segments is greater than a preset distance threshold value under the condition that the two line segments belong to the same parallel line, determining that the two line segments belong to different areas; and if the distance between the same side end points in the two line segments is smaller than a preset distance threshold value, determining that the two line segments belong to the same area.
In one example, if two line segments are left and right adjacent two line segments, that is, the two line segments belong to the same parallel line, at this time, the distance between the upper end point and the upper end point of the two line segments and the distance between the lower end point and the lower end point of the two line segments are respectively judged, if the distance does not exceed the preset distance threshold value, the two line segments are considered to belong to the same area, otherwise, if any distance effect is preset distance threshold value, the two line segments are considered to belong to different areas.
For example, referring to the schematic illustration of an orthopattern shown in fig. 2, fig. 2 shows an orthopattern corresponding to a concave polygon area, where 1,2,3,4, 5, 6 are six sub-areas. The line segment a and the line segment b are two line segments adjacent left and right, a distance between an upper end point of the line segment a and an upper end point of the line segment b is calculated, and a distance between a lower end point of the line segment a and a lower end point of the line segment b is calculated, and both the distances exceed a preset distance threshold value, so that it is determined that the line segment a and the line segment b belong to different areas, namely the line segment a belongs to the sub-area 5, and the line segment b belongs to the sub-area 4.
And C2, determining that the two line segments belong to different areas under the condition that the two line segments do not belong to the same parallel line for the line segments positioned in the polygonal area in the target line segment set.
In one example, if two line breaks are two line breaks adjacent to each other up and down, that is, the two line breaks belong to different parallel lines, it is directly determined that the two line breaks adjacent to each other up and down belong to different areas. With continued reference to fig. 2, for the line segment b and the line segment c adjacent to each other, the line segment b belongs to the sub-region 4, and the line segment c belongs to the sub-region 2, that is, the line segment b and the line segment c belong to different regions.
And C3, dividing the polygonal area into a plurality of sub-areas based on the area to which each line segment belongs.
In one example, after dividing the entire polygonal region to obtain a plurality of sub-regions, the waypoints in each sub-region may be ordered to obtain a waypoint ordering result in the region. Specific: for each sub-area, the intersection point is a waypoint, and at this time, each parallel line direction has only two waypoints, wherein the situation of one point is equivalent to two points with a distance of 0. And sequencing the waypoints in each subarea according to the requirements of the cultivated land type route, wherein the sequenced subarea can be provided with four inlets of upper right, lower right, upper left and lower left. In practical application, the number of navigation points is less than 4, which is a simple special case, and the embodiments of the present invention will not be described herein.
And C4, determining the area occupation ratio corresponding to each sub-area.
In one example, the area corresponding to each sub-area is determined, the total area corresponding to the polygonal area is determined, and the ratio between each area and the total area is calculated to obtain the area occupation ratio corresponding to each sub-area.
And step C5, determining a representative point corresponding to each sub-area based on the area occupation ratio. In a specific implementation, reference may be made to the following steps C5-1 to C5-2:
And C5-1, if the area ratio of the area is smaller than a preset ratio threshold, taking the designated point in the subarea as a representative point corresponding to the subarea.
Wherein the specified point may be a particle. In practical application, for a certain subarea, if the area ratio corresponding to the subarea is smaller than a preset ratio threshold, the subarea is identified as a small area, and the centroid of the small area is taken as a representative point of the small area.
And C5-2, if the area ratio of the area is larger than a preset ratio threshold value, taking each entry point in the subarea as a representative point corresponding to the subarea.
The entry points are obtained by sequencing intersection points contained in the sub-areas according to preset route requirements, and the entry points can comprise an upper right entry point, a lower right entry point, an upper left entry point and a lower left entry point. In practical application, for a certain subarea, if the area ratio corresponding to the subarea is greater than a preset ratio threshold, the subarea is considered as a large area, and each entry of the subarea is taken as a representative point thereof in sequence.
And C6, taking the shortest range as an optimization target, and planning the access sequence of the sub-areas based on the preset departure point, the preset return point and the representative point corresponding to each sub-area or based on the preset departure point, the preset return point, the preset auxiliary access point and the representative point corresponding to each sub-area to obtain an area sequencing result.
In one example, a set of orders for all sub-areas, also called area order results, is obtained with the minimum range as the optimization objective, taking as input the representative point, departure point, return point of all sub-areas together, using any solution to the traveller problem (TSP problem).
In one example, if it is desired to avoid non-zone areas, it is necessary to add new auxiliary access points as constraints, for which the order of access may be fixed, which is supported in solution implementation of the traveller's problem.
For the step S108, each intersection point in the target intersection point set may be connected according to the region ordering result and the intra-region waypoint ordering result, so as to obtain an orthographic route corresponding to the polygonal region.
In summary, the method for planning the survey route provided by the embodiment of the invention can rapidly and efficiently plan the route, save the route and meet the digital output place requirements such as three-dimensional modeling, orthographic image splicing and the like.
On the basis of the foregoing embodiments, the embodiment of the present invention provides a device for planning a survey route, referring to a schematic structural diagram of a device for planning a survey route shown in fig. 3, the device mainly includes the following parts:
a region acquisition module 302, configured to acquire a polygon region to be measured;
The intersection point and line segment determining module 304 is configured to set parallel line groups for the polygonal region, so as to determine a target intersection point set and a target line segment set between the polygonal region and the parallel line groups;
The region dividing and sorting module 306 is configured to divide the polygonal region into a plurality of sub-regions based on the line segments located in the polygonal region in the target line segment set, and program the access sequence of the sub-regions to obtain a region sorting result;
and the route planning module 308 is configured to connect each intersection point in the target intersection point set according to the region sequencing result, so as to obtain a route corresponding to the polygonal region.
According to the planning device for the regional route provided by the embodiment of the invention, the target line segment set is determined through the polygonal region and the parallel line groups, so that the polygonal region is divided based on the line segments in the polygonal region in the target line segment set, the access sequence planning is carried out for the subareas obtained by the division, each intersection point in the target intersection point set is connected according to the regional sequencing result obtained by the planning, and the route with the applicability and the execution efficiency meeting the operation requirement is obtained, so that the efficiency of the orthographic route obtained by the planning can be remarkably improved.
In one embodiment, the intersection and line segment determination module 304 is further configured to:
Setting parallel line groups for the polygonal area according to the target course corresponding to the polygonal area; the direction of the parallel line group is consistent with the target course, the parallel line distance corresponding to the parallel line group is related to one or more of side direction overlapping rate, flight height and camera parameters, and the nearest distance between the parallel line group and a specified point in the polygonal area is related to preset constraint;
Intersecting the parallel line groups with the polygonal region to obtain an initial intersection point set between the polygonal region and the parallel line groups, and dividing each parallel line in the parallel line groups into an initial line segment set;
and merging the intersection points in the initial intersection point set to update the initial intersection point set and the initial line segment set to obtain a target intersection point set and a target line segment set.
In one embodiment, the intersection and line segment determination module 304 is further configured to:
for each parallel line in the parallel line group, determining the number of intersection points between the parallel line and the polygonal area, and determining that each line segment obtained by dividing the parallel line is positioned in the polygonal area or positioned outside the polygonal area based on the number of intersection points;
And for the line segments outside the polygonal area, if the length of the line segments is smaller than a preset length threshold value, removing the intersection points corresponding to the line segments from the initial intersection point set to update the initial intersection point set and the initial line segment set, so as to obtain a target intersection point set and a target line segment set.
In one embodiment, the region partitioning and ordering module 306 is further configured to:
For a line segment in a polygonal region in the target line segment set, if the distance between the same side endpoints in the two line segments is greater than a preset distance threshold value under the condition that the two line segments belong to the same parallel line, determining that the two line segments belong to different regions; if the distance between the same side endpoints in the two line segments is smaller than a preset distance threshold value, determining that the two line segments belong to the same area;
or for the line segments in the polygon area in the target line segment set, determining that the two line segments belong to different areas under the condition that the two line segments do not belong to the same parallel line;
The polygonal region is divided into a plurality of sub-regions based on the region to which each line segment belongs.
In one embodiment, the region partitioning and ordering module 306 is further configured to:
Determining the area occupation ratio of each sub-area;
Determining a representative point corresponding to each sub-region based on the region area occupation ratio;
and taking the shortest range as an optimization target, and planning the access sequence of the sub-areas based on the preset departure point, the preset return point and the representative point corresponding to each sub-area or based on the preset departure point, the preset return point, the preset auxiliary access point and the representative point corresponding to each sub-area to obtain an area sequencing result.
In one embodiment, the region partitioning and ordering module 306 is further configured to:
if the area occupation ratio of the area is smaller than a preset occupation ratio threshold value, taking the designated point in the subarea as a representative point corresponding to the subarea;
or if the area occupation ratio of the area is larger than a preset occupation ratio threshold value, taking each entry point in the subarea as a representative point corresponding to the subarea; the entry points are obtained by sequencing intersection points contained in the sub-areas according to preset route requirements.
In one embodiment, the zone acquisition module 302 is further configured to:
and acquiring an initial polygonal area, determining a target course corresponding to the polygonal area, and performing expansion processing on the polygonal area based on the target course to obtain the polygonal area to be detected.
The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned.
The embodiment of the invention provides electronic equipment, which comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the embodiments described above.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, where the electronic device 100 includes: a processor 40, a memory 41, a bus 42 and a communication interface 43, the processor 40, the communication interface 43 and the memory 41 being connected by the bus 42; the processor 40 is arranged to execute executable modules, such as computer programs, stored in the memory 41.
The memory 41 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatilememory), such as at least one magnetic disk memory. The communication connection between the system network element and the at least one other network element is achieved via at least one communication interface 43 (which may be wired or wireless), which may use the internet, a wide area network, a local network, a metropolitan area network, etc.
Bus 42 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.
The memory 41 is configured to store a program, and the processor 40 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 40 or implemented by the processor 40.
The processor 40 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in processor 40. The processor 40 may be a general-purpose processor, including a Central Processing Unit (CPU), a network processor (NetworkProcessor NP), etc.; but may also be a digital signal processor (DIGITAL SIGNAL Processing, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 41 and the processor 40 reads the information in the memory 41 and in combination with its hardware performs the steps of the method described above.
The computer program product of the readable storage medium provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where the program code includes instructions for executing the method described in the foregoing method embodiment, and the specific implementation may refer to the foregoing method embodiment and will not be described herein.
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 this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for planning a survey route, comprising:
Acquiring a polygonal area to be measured;
Setting parallel line groups aiming at the polygonal area to determine a target intersection point set and a target line segment set between the polygonal area and the parallel line groups; the parallel line groups are intersected with the polygonal region to obtain an initial intersection point set between the polygonal region and the parallel line groups, and each parallel line in the parallel line groups is divided into an initial line segment set; merging the intersection points in the initial intersection point set to update the initial intersection point set and the initial line segment set to obtain a target intersection point set and a target line segment set;
Dividing the polygonal region into a plurality of subareas based on line segments positioned in the polygonal region in the target line segment set, and planning the access sequence of the subareas to obtain a region ordering result;
And connecting each intersection point in the target intersection point set according to the region sequencing result to obtain a route corresponding to the polygonal region.
2. A method of planning a survey route according to claim 1, wherein the step of providing a parallel line family for the polygonal survey area comprises:
Setting parallel line groups for the polygonal area according to the target course corresponding to the polygonal area; the direction of the parallel line group is consistent with the target course, the parallel line distance corresponding to the parallel line group is related to one or more of side direction overlapping rate, flying height and camera parameters, and the nearest distance between the parallel line group and a designated point in the polygonal area is related to preset constraint.
3. The method of claim 1, wherein the step of merging the intersections in the initial intersection set to update the initial intersection set and the initial line segment set to obtain a target intersection set and a target line segment set includes:
For each parallel line in the parallel line family, determining the number of intersection points between the parallel line and the polygonal area, and determining that each line segment obtained by dividing the parallel line is positioned in the polygonal area or positioned outside the polygonal area based on the number of intersection points;
And for the line segments outside the polygonal area, if the length of the line segments is smaller than a preset length threshold value, eliminating the intersection points corresponding to the line segments from the initial intersection point set to update the initial intersection point set and the initial line segment set so as to obtain a target intersection point set and a target line segment set.
4. The method of claim 1, wherein the step of dividing the polygonal area into a plurality of sub-areas based on line segments within the polygonal area in the target line segment set comprises:
for the line segments in the polygon area in the target line segment set, if the two line segments belong to the same parallel line, determining that the two line segments belong to different areas if the distance between the same side endpoints in the two line segments is greater than a preset distance threshold; if the distance between the same side endpoints in the two line segments is smaller than the preset distance threshold, determining that the two line segments belong to the same area;
Or for the line segments in the polygon area in the target line segment set, determining that the two line segments belong to different areas under the condition that the two line segments do not belong to the same parallel line;
and dividing the polygonal area into a plurality of subareas based on the area to which each line segment belongs.
5. The method for planning a survey route according to claim 1, wherein the step of planning the access sequence of the subregions to obtain a region ordering result comprises:
Determining the area occupation ratio of each subarea;
determining a representative point corresponding to each subarea based on the area occupation ratio of the subareas;
and taking the shortest range as an optimization target, and planning the access sequence of the subareas based on a preset departure point, a preset return point and the representative point corresponding to each subarea, or based on the preset departure point, the preset return point, a preset auxiliary access point and the representative point corresponding to each subarea to obtain an area sequencing result.
6. The method of claim 5, wherein the step of determining a representative point corresponding to each of the sub-regions based on the area-to-area ratio comprises:
If the area occupation ratio of the area is smaller than a preset occupation ratio threshold value, taking the designated point in the subarea as a representative point corresponding to the subarea;
Or if the area ratio of the area is larger than the preset ratio threshold, taking each entry point in the subarea as a representative point corresponding to the subarea; the entry points are obtained by sequencing intersection points contained in the subareas according to preset route requirements.
7. The method of claim 1, wherein the step of obtaining a polygonal area to be measured comprises:
and acquiring an initial polygonal area, determining a target course corresponding to the polygonal area, and performing expansion processing on the polygonal area based on the target course to obtain the polygonal area to be detected.
8. A survey route planning apparatus, comprising:
the detection zone acquisition module is used for acquiring a polygonal detection zone to be detected;
The intersection point and line segment determining module is used for setting parallel line groups aiming at the polygonal area so as to determine a target intersection point set and a target line segment set between the polygonal area and the parallel line groups; the parallel line groups are intersected with the polygonal region to obtain an initial intersection point set between the polygonal region and the parallel line groups, and each parallel line in the parallel line groups is divided into an initial line segment set; merging the intersection points in the initial intersection point set to update the initial intersection point set and the initial line segment set to obtain a target intersection point set and a target line segment set;
The region dividing and sequencing module is used for dividing the polygonal region into a plurality of sub-regions based on the line segments positioned in the polygonal region in the target line segment set, and planning the access sequence of the sub-regions to obtain a region sequencing result;
And the route planning module is used for connecting each intersection point in the target intersection point set according to the region sequencing result so as to obtain a route corresponding to the polygonal region.
9. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 7.
10. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of claims 1 to 7.
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