WO2021016880A1 - 无人机仿真飞行方法及装置、记录介质 - Google Patents

无人机仿真飞行方法及装置、记录介质 Download PDF

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Publication number
WO2021016880A1
WO2021016880A1 PCT/CN2019/098425 CN2019098425W WO2021016880A1 WO 2021016880 A1 WO2021016880 A1 WO 2021016880A1 CN 2019098425 W CN2019098425 W CN 2019098425W WO 2021016880 A1 WO2021016880 A1 WO 2021016880A1
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Prior art keywords
drone
simulation
task
wire
camera device
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PCT/CN2019/098425
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English (en)
French (fr)
Inventor
蔡俊安
孙晓帆
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980032732.XA priority Critical patent/CN112236727A/zh
Priority to PCT/CN2019/098425 priority patent/WO2021016880A1/zh
Publication of WO2021016880A1 publication Critical patent/WO2021016880A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes

Definitions

  • the present disclosure relates to an unmanned aerial vehicle simulation flight method, device and recording medium.
  • the present disclosure is made to solve the above-mentioned technical problems.
  • An aspect of the present disclosure provides a simulation flight method of an unmanned aerial vehicle, characterized in that the method includes: obtaining a simulation task, the simulation task includes a first task and/or a second task, and the first task is used for In order to instruct the drone to inspect the electrical tower, the second task is to instruct the drone to inspect the electric wire; to obtain a simulation picture observed from the perspective of the camera device of the drone; The simulation screen determines whether the UAV successfully completes the simulation task.
  • an unmanned aerial vehicle simulation flight device including: a processor; a memory, storing machine-readable instructions, when the instructions are executed by the processor, the processor executes the original The unmanned aerial vehicle simulation flight method of the one aspect disclosed; and a display for displaying the simulation screen.
  • Another aspect of the present disclosure provides a computer-readable recording medium that stores executable instructions that when executed by a processor causes the processor to perform the drone flight simulation of the one aspect of the present disclosure method.
  • the drone simulation simulation that can better simulate the actual drone flight environment, especially the real simulation of the power line inspection environment, can greatly improve the The simulation training effect and learning efficiency of man-machine power line inspection, thereby greatly improving user experience.
  • Fig. 1 schematically shows a brief flow chart of a simulation flight method of a drone according to an embodiment of the present disclosure.
  • Fig. 2A schematically shows an example diagram of a simulation screen in the simulation situation of an electrical tower inspection in the drone simulation flight method of an embodiment of the present disclosure.
  • Fig. 2B schematically shows a brief flow chart of the steps of determining whether the drone successfully completes the simulation task in the case of the electric tower inspection simulation of the drone simulation flight method of the embodiment of the present disclosure.
  • FIG. 3A schematically shows an example diagram of a simulation screen in the simulation situation of the patrol inspection of risk targets of the electric tower in the drone simulation flight method of the embodiment of the present disclosure.
  • FIG. 3B schematically shows a brief flow chart of the steps of determining whether the drone successfully completes the simulation task in the simulation situation of the patrol inspection of the risk target of the electric tower in the drone simulation flight method of the embodiment of the present disclosure.
  • FIG. 4A schematically shows an example diagram of a simulation screen in the simulation of wire inspection in the simulation flight method of a drone of an embodiment of the present disclosure.
  • Fig. 4B schematically shows a brief flow chart of the steps of determining whether the drone successfully completes the simulation task in the wire inspection simulation situation of the drone simulation flight method of the embodiment of the present disclosure.
  • Fig. 5 schematically shows a simplified flow chart of simulating electromagnetic interference in the simulation of wire inspection in the drone flight simulation method of an embodiment of the present disclosure.
  • Fig. 6 schematically shows a structure diagram of a drone simulation flight device according to another embodiment of the present disclosure.
  • Fig. 1 schematically shows a brief flow chart of a simulation flight method of a drone according to an embodiment of the present disclosure.
  • the drone flight simulation method of the embodiment of the present disclosure may include: step S1 of obtaining a simulation task; step S2 of obtaining a simulation screen; and determining whether the drone is successfully completed according to the simulation screen Step S3 of the simulation task.
  • the simulation task may include any simulation task related to the simulation flight of the drone, such as instructing the drone to conduct exploration, inspection, and inspection.
  • the simulation task may include: an electrical tower inspection task for instructing the drone to perform an electrical tower inspection, and/or a wire inspection task for instructing the drone to perform an electrical wire inspection.
  • the task of inspecting the electrical tower may include, for example, instructing the drone to use a camera device such as a camera installed on it to photograph the electrical tower, and/or instructing the drone to use a camera device such as a camera installed on it to photograph the electrical tower.
  • a camera device such as a camera installed on it to photograph the electrical tower
  • a camera device such as a camera installed on it to photograph the electrical tower.
  • Targets such as insulators and nameplates on the tower are the so-called risk targets.
  • the wire inspection task may include, for example, instructing the drone to fly along the wire, and/or simulating the drone in flight, such as electromagnetic interference from the wire, or biased interference from the wind.
  • the simulated picture may be a simulated picture viewed from the angle of view of a camera device such as a camera installed on a drone, which is simulated and displayed on a display screen of a display.
  • the simulation screen can simulate and display a virtual environment viewed from the perspective of a camera device such as a camera installed on the drone, and the virtual environment can include Examples of power inspection targets include electrical towers and wires.
  • the virtual environment may also include a two-dimensional geographic environment (for example, a two-dimensional map) or a three-dimensional geographic environment (for example, a three-dimensional map) currently captured by a camera device such as a camera installed on the drone.
  • the step S3 may mainly include: the simulated real image captured by the camera device on the simulation drone is displayed The content is used to determine whether the photographing device on the unmanned aerial vehicle has photographed the electric tower, the risk target on the electric tower, the electric wire, etc., as the electric power inspection target, according to predetermined requirements.
  • step S3 referring to the accompanying drawings, a detailed description will be given in detail according to different situations (ie, different simulation tasks).
  • Fig. 2A schematically shows an example diagram of a simulation screen in the simulation situation of an electrical tower inspection in the drone simulation flight method of an embodiment of the present disclosure.
  • the simulation screen simulates and displays the simulation screen in the case of executing the simulation task of the electric tower inspection.
  • a virtual environment captured by a camera device such as a camera installed on the drone is simulated and displayed.
  • the virtual environment may include: electric tower T (here, it is required to be shown as the whole electric tower), and electric wires L connected between electric towers.
  • the electric wires L may be a single electric wire or multiple electric wires.
  • a plurality of parallel electric wires L connected to the electric tower T are shown, and electric wires that cross the plurality of parallel electric wires L and connected to other electric towers (not shown) are also shown.
  • the virtual environment may also include a geographical environment. Here, a three-dimensional map M is shown.
  • Fig. 2B schematically shows a brief flow chart of the steps of determining whether the drone successfully completes the simulation task in the case of the electric tower inspection simulation of the drone simulation flight method of the embodiment of the present disclosure.
  • the determination of whether the drone described in FIG. 1 may include: determining whether the camera device of the drone has photographed the electrical tower according to predetermined requirements. Wherein, determining whether the camera device of the unmanned aerial vehicle has photographed the electrical tower according to predetermined requirements may specifically include:
  • the preset area requirement may be, for example, that the center point of the electrical tower appears in the central area of the simulation screen.
  • the preset distance requirement may be, for example, that the distance between the UAV and the center point of the electrical tower is less than a preset distance threshold, and the preset distance threshold may be specific Specific settings are made according to, for example, the shooting performance of the camera equipment (for example, resolution, clarity, effective pixels, etc.), as long as it is the largest number of drones and electric towers that can clearly show the overall structure of the electric tower in the simulation screen.
  • the distance is sufficient, in other words, if the maximum distance is exceeded, the overall structure of the electrical tower cannot be clearly displayed in the simulation screen.
  • it may include: presetting marking points for characterizing the overall structure (ie, overall outline) of the electric tower on the electric tower.
  • presetting marking points for characterizing the overall structure (ie, overall outline) of the electric tower on the electric tower For example, as shown in FIG. 2A, the tower top end Ta (here, for example, two), the tower shoulder end Tb (here, for example, two), and the tower bottom end Tc (here, for example, there are 2) respectively mark the marking points in advance.
  • the center point of the electrical tower can be expressed as the center point in the grid formed by the marking points.
  • the determining whether the camera device of the drone has photographed the overall structure of the electrical tower may include: when the marking points are all displayed in the simulation screen, it is determined that the camera device of the drone has photographed the electrical tower. The overall structure, otherwise it is determined that the drone’s camera device has not captured the overall structure of the electrical tower.
  • the specific calculations in each of the above-mentioned determination steps may, for example, use the marker points to convert from world coordinates to screen coordinates in the simulation screen, and use the marker points to calculate the distance between the drone and each frame. Wait to realize.
  • it can also be realized by adding, for example, a radiation detection method.
  • result information related to the simulation task such as the distance between the drone and the electric tower when the shooting is successful, and the time taken to complete the simulation task (here, the time taken for shooting), can be displayed on the simulation screen and/or recorded in a storage device.
  • the content of the simulation task, the current step of the simulation task, the information prompt in the current step, etc. can also be displayed on the simulation screen at any time. In this way, it is more convenient for the simulation task performer to understand the task and perform operations, and further improve the user experience.
  • the executor of the simulation task can learn the success or failure information more quickly and intuitively, and further improve the user experience.
  • FIG. 3A is an example diagram of a simulation screen in the simulation situation of the patrol inspection of the risk target of the electric tower of the drone simulation flight method of the embodiment of the present disclosure.
  • the simulation screen simulation shows the simulation screen in the case of performing the patrol simulation task of the electric tower details (ie, the electric tower risk target).
  • a virtual environment captured by a camera device such as a camera installed on the drone is simulated and displayed.
  • the virtual environment may include: electric tower T (here, only the part of the electric tower related to the risk target is displayed), the risk target on the electric tower (here, the insulator D is taken as an example), the electric tower The wires L connected indirectly (here, if no wires are involved in the vicinity of the risk target, the wires may not be displayed).
  • the virtual environment may also include a geographical environment. Here, a three-dimensional map M is shown.
  • FIG. 3B schematically shows a brief flow chart of the steps of determining whether the drone successfully completes the simulation task in the simulation situation of the patrol inspection of the risk target of the electric tower in the drone simulation flight method of the embodiment of the present disclosure.
  • the simulation task includes the task of inspecting the details of the electric tower of the unmanned aerial vehicle, specifically including instructing the camera of the unmanned aerial vehicle to photograph the details of the electric tower (that is, photographing the insulators, the nameplate of the electric tower, etc. as risk targets)
  • the step S3 of determining whether the drone successfully completes the simulation task described in FIG. 1 may include: determining whether the camera device of the drone has photographed all risk targets on the electrical tower according to predetermined requirements.
  • the determination of whether the camera device of the drone has photographed all risk targets on the electric tower according to predetermined requirements may specifically include the following one by one according to the number of all risk targets:
  • the preset area requirement may be, for example, that the center point of the risk target appears in the center area of the simulation screen.
  • insulator D as shown in Figure 3A;
  • the preset distance requirement may be, for example, that the distance between the drone and the center point of the risk target is less than a preset distance threshold, and the preset distance threshold It can be specifically set according to, for example, the shooting performance of the camera equipment (for example, resolution, clarity, effective pixels, etc.), as long as it is a drone and a drone that can clearly display the overall structure of the risk target in the simulation screen.
  • the maximum distance of the risk target is sufficient. In other words, if the maximum distance is exceeded, the overall structure of the risk target cannot be clearly displayed in the simulation screen.
  • each of the above determination steps may include: presetting a mark point for characterizing the overall structure (ie, overall outline) of the risk target at the risk target on the electric tower.
  • a mark point for characterizing the overall structure ie, overall outline
  • each end (here, for example, 4) of the insulator D is pre-marked at the risk target, for example, the mark points.
  • the center point of the risk target can be expressed as the center point in the grid formed by the mark points.
  • the overall structure for determining whether the camera device of the drone has captured the risk target may include: when the marker points are all displayed in the simulation screen, it is determined that the camera device of the drone has captured the risk. The overall structure of the target, otherwise it is determined that the camera device of the drone has not captured the overall structure of the risk target.
  • the specific calculations in each of the above-mentioned determining steps can, for example, use the marker points to convert from world coordinates to screen coordinates in the simulation screen, and use the marker points to calculate the distance between the drone and each frame. Wait to realize. Moreover, it can also be realized by adding, for example, a radiation detection method.
  • the content of the simulation task, the current step of the simulation task, the information prompt in the current step, etc. can also be displayed on the simulation screen at any time. In this way, it is more convenient for the simulation task performer to understand the task and perform operations, and further improve the user experience.
  • the display mode of the risk target is changed. For example, before success, the risk target is highlighted or displayed flashing (ie, abnormal display), after success, the risk target is not highlighted or displayed non-flashing (ie, normal display is restored).
  • the display mode can be changed before and after the entire successful completion of the simulation task of the tower risk target inspection, or the display mode change can be performed immediately before and after the successful shooting of each risk target one by one. . In this way, the executor of the simulation task can learn the success or failure information more quickly and intuitively, and further improve the user experience.
  • Fig. 4A is an example diagram of a simulation screen in the simulation of wire inspection of the drone flight simulation method of the embodiment of the present disclosure.
  • the simulation screen simulates and displays a simulation screen in the case of performing a wire inspection simulation task.
  • a virtual environment captured by a camera device such as a camera installed on the drone is simulated and displayed.
  • the virtual environment may include: wires L connected between electric towers (here, as an example, three wires in parallel are shown. Of course, it may be only one wire).
  • the virtual environment may also include a geographical environment. Here, a three-dimensional map M is shown.
  • the virtual environment may also include a parallel pointer S that represents the current position on the parallel wire L captured by the camera device installed on the drone, that is, the parallel pointer S is a horizontal as shown in FIG. 4A.
  • a pointer that moves along the parallel wire L across the parallel wire L to follow the shooting action of the drone is marked.
  • the shape of the parallel pointer S is not limited to the shape shown in FIG. 4A, as long as it can show the current position on the parallel wire L photographed by the drone.
  • the parallel pointer S may be accompanied by an arrow mark W shown in FIG. 4A that can indicate the moving direction of the drone, for example.
  • the simulation screen may also include other auxiliary information such as an altitude indicator H that indicates the current flying altitude of the unmanned person as shown in FIG. 4A.
  • Fig. 4B schematically shows a brief flow chart of the steps of determining whether the drone successfully completes the simulation task in the wire inspection simulation situation of the drone simulation flight method of the embodiment of the present disclosure.
  • the step S3 of completing the simulation task may include: determining whether the camera device of the drone has photographed the wire according to predetermined requirements.
  • the determining whether the camera device of the drone has photographed the wire according to predetermined requirements may specifically include:
  • the preset distance requirement may be, for example, determining that the UAV is closest to the parallel electric wire (of course, It is also possible that the distance between the wires that are the farthest or moderately apart is smaller than the preset distance threshold, and the preset distance threshold may be specifically set according to, for example, the shooting performance of the imaging device (for example, resolution, sharpness, effective pixels, etc.) , As long as it is the maximum distance between the UAV that can clearly display all the parallel wires in the simulation screen and the wire that is closest to the parallel wires (of course, it can also be the farthest, or the distance is moderate), in other words, If the maximum distance is exceeded, all parallel wires cannot be clearly displayed in the simulation screen;
  • Determining whether the shooting angle of the drone's camera device meets the preset shooting requirements may specifically include: determining whether the angle of the drone's camera device looking down on the wire in the direction perpendicular to the wire is at the preset Within the angle range, so that the wires in parallel in the simulation screen appear in a predetermined area (for example, the central area) of the simulation screen and all the wires in parallel can be clearly distinguished.
  • a predetermined area for example, the central area
  • the marking point may include: presetting a marking point on the electric wire for representing the position on the electric wire currently photographed by the camera device of the drone.
  • the marking point may be a point moving along the wire following the shooting of the drone (ie, following the movement of the drone). In this way, in the simulation picture, the marking point moving along the wire will form a track on the wire.
  • a portion indicated by a white line here, the white line is indicated as a highlight display as a highlight
  • the parallel electric wires L shows the trajectory of the marking point.
  • the parts of the wires that have been inspected can be displayed in a highlighted state, for example.
  • This highlighting method allows the simulation task performer to observe the progress of the wire inspection in real time. Thereby improving the user experience.
  • the determining whether all parallel wires are photographed during the photographing process of the photographing device of the drone may include: when the marking points on all parallel wires appear in the simulation picture, determining All wires in parallel are captured during the shooting process of the camera device of the drone, otherwise it is determined that all the wires in parallel are not captured during the shooting process of the camera device of the drone.
  • the specific calculations in each of the above-mentioned determination steps can be, for example, using the marker points following the wire to convert from world coordinates to the screen coordinates in the simulation screen, and using the marker points following the wire and unmanned The machine distance is calculated for each frame.
  • it can also be realized by adding, for example, a radiation detection method.
  • a parallel pointer S that follows the movement of the marking point is set so as to straddle all the parallel electric wires L.
  • the pointer S may also show, for example, an arrow mark W indicating the moving direction of the drone as shown in FIG. 4A. In this way, it is more convenient for the performer of the simulation task to observe the progress of the wire inspection in real time, thereby improving the user experience.
  • the result information related to the simulation task such as the average value of the vertical distance between the drone and the wire during the whole process of patrolling the wire, the time taken to complete the simulation task (here, the time taken for shooting), etc., can be displayed on the simulation screen and / Or recorded in a storage device.
  • the content of the simulation task, the current step of the simulation task, the information prompt in the current step, etc. can also be displayed on the simulation screen at any time. In this way, it is more convenient for the simulation task performer to understand the task and perform operations, and further improve the user experience.
  • Fig. 5 schematically shows a simplified flow chart of simulating electromagnetic interference in the simulation of wire inspection in the drone flight simulation method of an embodiment of the present disclosure.
  • the step S3 of determining whether the drone successfully completes the simulation task described in FIG. 1 may include :
  • the preset distance threshold can be preset according to the type of wire (for example, high-voltage cable, communication cable, etc.) as the maximum distance between the wire that may cause electromagnetic interference to the drone and the drone, that is, It is said that if the distance between the drone and the wire is within the preset distance threshold, the drone will suffer electromagnetic interference from the wire;
  • the determining whether the distance between the drone and the electric wire is below a preset distance threshold may include: converting the electric wire into a strip element having a preset volume range, wherein the preset volume The range can be to generate an adjustable number of distance detection volume by calculating the distance between the point of the strip element, and thereby determine whether the distance between the drone and the strip element, that is, the distance detection volume is within Below the preset distance threshold.
  • the simulation of the electromagnetic interference of the UAV by the wire may include: switching the flight mode of the UAV to an automatic mode, in which the UAV implements vector direction interference as a biased interference to simulate the unmanned Machines such as control signal reception failure and other uncontrolled risk conditions.
  • the content of the simulation task, the current step of the simulation task, the information prompt in the current step, etc. can also be displayed on the simulation screen at any time. In this way, it is more convenient for the simulation task performer to understand the task and perform operations, and further improve the user experience.
  • drone simulation tasks are merely examples of tasks, and do not limit the technical solutions of the present disclosure.
  • these tasks can be used as independent training tasks, or randomly combined according to different training and learning purposes, that is, they can be customized into various training task chapters. , Which can further improve the pertinence, high degree of customization and flexibility of the drone simulation task (for example, the power inspection simulation task illustrated here).
  • FIG. 6 As an example, another drone simulation flight device that implements the drone simulation flight method of the present disclosure by hardware is described.
  • Fig. 6 schematically shows a structure diagram of a drone simulation flight device according to another embodiment of the present disclosure.
  • the drone flight simulation device 300 may include: a processor 310 (for example, a CPU, etc.), a memory 320 (for example, a hard disk HDD, a read-only memory ROM, etc.), and a display that displays a simulation screen on the display screen 330.
  • a processor 310 for example, a CPU, etc.
  • a memory 320 for example, a hard disk HDD, a read-only memory ROM, etc.
  • a display that displays a simulation screen on the display screen 330.
  • a readable storage medium 321 for example, a magnetic disk, an optical disk, CD-ROM, USB, etc.
  • each part in the moving route generating device 300 may be one or more, for example, the processor 310 may be one or more processors.
  • the process described above with reference to the flowcharts (FIGS. 1, 2B, 3B, 4B, and 5) of the drone flight simulation method of the embodiment of the present disclosure can be implemented as a computer software program.
  • the computer software program may also be one or more.
  • the computer software program is stored in the storage device 320 of the drone flight simulation device 300, and by executing the computer software program, one or the other of the drone flight simulation device 300
  • the multiple processors 310 execute the drone simulation flight method and its variants shown in the flowcharts of FIGS. 1, 2B, 3B, 4B, and 5 of the present disclosure.
  • the drone flight simulation method can also be stored as a computer program in a computer-readable storage medium (for example, the readable storage medium 321 shown in FIG. 6), and the computer program may include code /Computer-executable instructions enable the computer to execute the drone simulation flight method and its variants shown in the flowcharts of Figs. 1, 2B, 3B, 4B, and 5 of the present disclosure.
  • a computer-readable storage medium for example, the readable storage medium 321 shown in FIG. 6
  • the computer program may include code /Computer-executable instructions enable the computer to execute the drone simulation flight method and its variants shown in the flowcharts of Figs. 1, 2B, 3B, 4B, and 5 of the present disclosure.
  • a computer-readable storage medium may be any medium that can contain, store, transmit, propagate, or transmit instructions.
  • a readable storage medium may include, but is not limited to, an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, device, or propagation medium.
  • Specific examples of readable storage media include: magnetic storage devices, such as magnetic tape or hard disk (HDD); optical storage devices, such as optical disks (CD-ROM); memory, such as random access memory (RAM) or flash memory; and/or wired /Wireless communication link.
  • the computer program may be configured to have, for example, computer program code including computer program modules. It should be noted that the division method and number of modules are not fixed. Those skilled in the art can use appropriate program modules or program module combinations according to the actual situation. When these program module combinations are executed by the computer (or processor), the computer For example, the flow of the drone simulation flight method described above in conjunction with FIGS. 1, 2B, 3B, 4B, and 5 and its variants can be executed.

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Abstract

一种无人机仿真飞行方法、装置及记录介质，该无人机仿真飞行方法包括：获取仿真任务，该仿真任务包括第一任务和/或第二任务，第一任务用于指示无人机巡检电塔，第二任务用于指示无人机巡检电线；获取以无人机的摄像装置的视角观察到的仿真画面；根据仿真画面，确定无人机是否成功完成仿真任务。

Description

无人机仿真飞行方法及装置、记录介质 技术领域
本公开涉及一种无人机仿真飞行方法及装置、记录介质。
背景技术
随着无人机技术的快速发展，利用无人机携带拍摄装置进行各种勘探、巡查\巡检等事项也越来越普及。例如，利用无人机进行电力线路的巡检来代替低效的人工巡检已成为我国重点发展项目。
与此相应地，为了更方便和有效利用无人机，协助用户快捷地掌握无人机飞行操控的步骤要点和飞行技巧，无人机操控训练的需求也日益增加。
然而，首先，无人机的实机操控训练，对于新手而言操作难度大、风险高，容易损坏无人机。其次，现有的无人机仿真大都是简单模仿无人机的操控，而没有很好地根据实际情况来模拟无人机的飞行环境，尤其，在电力线路的巡检仿真训练中，无法很好模拟电塔环境、电力线路环境，导致仿真训练环境与实际的巡检环境相差甚远，达不到实际模拟效果，仿真训练效率低，影响实际飞行操作。
由此，如何为用户提供更好地模拟实际无人机飞行环境的无人机模拟仿真，尤其例如电力线路巡检环境的真实模拟，以大幅度提高仿真训练效果和学习效率，就成为本领域急切有待解决的技术问题。
发明内容
本公开就是为了解决上述这样的技术问题而做出的。
本公开的一个方面提供了一种无人机仿真飞行方法，其特征在于，所述方法包括：获取仿真任务，所述仿真任务包括第一任务和/或第二任务，所述第一任务用于指示所述无人机巡检电塔，所述第二任务用 于指示所述无人机巡检电线；获取以所述无人机的摄像装置的视角观察到的仿真画面；根据所述仿真画面，确定所述无人机是否成功完成所述仿真任务。
本公开的另一个方面提供了一种无人机仿真飞行装置，包括：处理器；存储器，存储有机器可读指令，所述指令在被所述处理器执行时，使得所述处理器执行本公开的所述一个方面的所述无人机仿真飞行方法；和显示器，用于显示所述仿真画面。
本公开的另一个方面提供了一种计算机可读的记录介质，存储有可执行指令，该指令被处理器执行时使该处理器执行本公开的所述一个方面的所述无人机仿真飞行方法。
根据本公开的无人机仿真飞行方法及装置、记录介质，能够更好地模拟实际无人机飞行环境的无人机模拟仿真，尤其例如电力线路巡检环境的真实模拟，以大幅度提高无人机电力线路巡检的仿真训练效果和学习效率，从而大大提高用户体验。
附图说明
为了更完整地理解本公开及其优势，现在将参考结合附图的以下描述，其中：
图1示意性示出了本公开实施例的无人机仿真飞行方法的简要流程图。
图2A示意性示出了本公开实施例的无人机仿真飞行方法的在电塔巡检仿真情形下的仿真画面的示例图。
图2B示意性示出了本公开实施例的无人机仿真飞行方法的在电塔巡检仿真情形下的确定无人机是否成功完成仿真任务的步骤的简要流程图。
图3A示意性示出了本公开实施例的无人机仿真飞行方法的在电塔风险目标巡检仿真情形下的仿真画面的示例图。
图3B示意性示出了本公开实施例的无人机仿真飞行方法的在电塔风险目标巡检仿真情形下的确定无人机是否成功完成仿真任务的步骤的简要流程图。
图4A示意性示出了本公开实施例的无人机仿真飞行方法的在电线巡检仿真情形下的仿真画面的示例图。
图4B示意性示出了本公开实施例的无人机仿真飞行方法的在电线巡检仿真情形下的确定无人机是否成功完成仿真任务的步骤的简要流程图。
图5示意性示出了本公开实施例的无人机仿真飞行方法的在电线巡检仿真情形下的模拟电磁干扰的简要流程图。
图6示意性示出了本公开另一实施例的无人机仿真飞行装置的结构简图。
具体实施方式
以下，将参照附图来描述本公开的实施例。
图1示意性示出了本公开实施例的无人机仿真飞行方法的简要流程图。
如图1所示，本公开实施例的无人机仿真飞行方法可以包括：获取仿真任务的步骤S1；获取仿真画面的步骤S2；以及根据所述仿真画面来确定所述无人机是否成功完成所述仿真任务的步骤S3。
在所述获取仿真任务的步骤S1中，所述仿真任务可以包括例如指示无人机进行勘探、巡查、巡检等有关无人机仿真飞行的任何仿真任务。这里，所述仿真任务可以包括：用于指示无人机进行电塔巡检的巡检电塔任务、和/或用于指示无人机进行电线巡检的巡检电线任务。
此外，所述巡检电塔任务可以包括：例如，指示无人机利用其上安装的例如摄像头等摄像装置拍摄电塔、和/或指示无人机利用其上安装的例如摄像头等摄像装置拍摄电塔上的例如绝缘子、电塔铭牌等目标，即所谓的风险目标。
此外，所述巡检电线任务可以包括：例如，指示无人机沿电线飞行、和/或模拟无人机在飞行中例如受到电线的电磁干扰、或受到风等的偏向干扰等。
在所述获取仿真画面的步骤S2中，所述仿真画面可以是在例如显示器的显示屏中模拟显示的以无人机上安装的例如摄像头等摄像装置 的视角观察到的仿真画面。这里，以电力巡检的无人机仿真飞行为例，所述仿真画面中可以模拟显示以无人机上所安装的例如摄像头等摄像装置的视角观察到的虚拟环境，在该虚拟环境中可以包括作为电力巡检对象的例如电塔、电线等。另外，在该虚拟环境中也还可以包括无人机上安装的例如摄像头等摄像装置当前拍摄的二维地理环境(例如，二维地图)、或者三维地理环境(例如，三维地图)等。
在所述根据所述仿真画面来确定所述无人机是否成功完成所述仿真任务的步骤S3中，可以主要包括：根据模拟无人机上的摄像装置的视角拍摄到的仿真真画面中显示的内容来确定所述无人机上的拍摄装置是否按照预定要求拍摄到例如电塔、电塔上的风险目标、电线等这些作为电力巡检标的的拍摄对象。
关于所述步骤S3的具体过程，下面参照附图，按照不同情形(即不同仿真任务)进行具体详细说明。
首先，参照图2A、图2B来具体说明本公开实施例的无人机仿真飞行方法的电塔巡检任务仿真过程。
图2A示意性示出了本公开实施例的无人机仿真飞行方法的在电塔巡检仿真情形下的仿真画面的示例图。
如图2A所示，所述仿真画面模拟显示了执行电塔巡检仿真任务的情形下的仿真画面。在该仿真画面中，模拟显示出无人机上安装的例如摄像头等摄像装置拍摄到的虚拟环境。在所述虚拟环境中，可以包括：电塔T(这里，要求显示为电塔整体)、电塔间连接的电线L，其中电线L可以是单个电线，也可以是多个电线，这里，示出了与电塔T连接的并行的多个电线L，同时还示出了与并行的多个电线L交叉的连接于其他电塔(未图示)的电线。此外，所述虚拟环境中，还可以包括地理环境，这里，示出立体的三维地图M。
下面，进一步结合图2B来详细说明电塔巡检任务仿真过程。
图2B示意性示出了本公开实施例的无人机仿真飞行方法的在电塔巡检仿真情形下的确定无人机是否成功完成仿真任务的步骤的简要流程图。
如图2B所示，在所述仿真任务包括无人机电塔巡检任务，具体为 包括指示无人机的拍摄装置拍摄电塔的任务的情况下，图1中所述的确定无人机是否成功完成仿真任务的步骤S3可以包括：确定无人机的摄像装置是否按预定要求拍摄到电塔。其中，所述确定无人机的摄像装置是否按预定要求拍摄到电塔可以具体包括：
(1)确定无人机的拍摄装置是否拍摄到电塔的整体结构，也就是说，确定在所述仿真画面中是否显示出电塔的整体。例如，如图2A所示的电塔T；
(2)确定电塔的中心点是否满足预设区域要求，该预设区域要求例如可以为：电塔的中心点出现在所述仿真画面的中心区域。例如，如图2A所示的电塔T；
(3)确定无人机与电塔是否满足预设距离要求，该预设距离要求例如可以为：无人机与电塔的中心点的距离小于预设距离阈值，该预设距离阈值可以具体根据例如摄像设备的拍摄性能(例如，分辨率、清晰度、有效像素等)来具体设置，只要是能够在所述仿真画面中清晰显示出电塔的整体结构的无人机与电塔的最大距离即可，换言之，若超过该最大距离，则在所述仿真画面中无法清晰显示电塔的整体结构。
此外，在上述的各个确定步骤中，例如，可以包括：在电塔上预先设置用于表征电塔的整体结构(即，整体轮廓)的标记点。例如，如图2A所示，在电塔T的塔顶端部Ta(这里，例如有2个)、塔肩端部Tb(这里，例如有2个)、塔底端部Tc(这里，例如有2个)分别预先标记所述标记点。
这样，所述电塔的中心点就可以表示为由这些所述标记点构成的网格中的中心点。此外，所述确定无人机的拍摄装置是否拍摄到电塔的整体结构可以包括：当所述标记点都出现在所述仿真画面中时，确定为无人机的摄像装置拍摄到电塔的整体结构，否则确定为无人机的摄像装置没有拍摄到电塔的整体结构。
此外，如图2B所示，上述的各个确定步骤中的具体运算可以例如利用所述标记点由世界坐标转换为仿真画面中的画面坐标、利用所述标记点与无人机距离进行每帧计算等来实现。而且，也可以附加例如射线检测方法来实现。
最后，可以将例如拍摄成功时无人机与电塔的距离、完成仿真任务用时(这里，例如拍摄用时)等与仿真任务相关的结果信息显示于所述仿真画面和/或记录于存储设备。
此外，整个仿真任务过程中，还可以随时将仿真任务的内容、仿真任务的当前步骤、当前步骤中的信息提示等显示于所述仿真画面中。这样，能够更方便仿真任务执行者理解任务、进行操作，进一步提高用户体验。
此外，还可以：在确定为成功完成电塔巡检的仿真任务之前与之后，在所述仿真画面中，所述电塔的显示模式发生改变。例如，成功之前，电塔高亮显示或闪烁显示(即，非正常显示)，成功之后，电塔非高亮显示或非闪烁显示(即，恢复正常显示)。这样，能够使仿真任务执行者更快捷直观地获知成功与否的信息，进一步提高用户体验。
接下来，参照图3A、图3B来具体说明本公开实施例的无人机仿真飞行方法的电塔风险目标巡检仿真任务过程。
图3A本公开实施例的无人机仿真飞行方法的在电塔风险目标巡检仿真情形下的仿真画面的示例图。
如图3A所示，所述仿真画面模拟显示了执行电塔细节(即，电塔风险目标)巡检仿真任务的情形下的仿真画面。在该仿真画面中，模拟显示出无人机上安装的例如摄像头等摄像装置拍摄到的虚拟环境。在所述虚拟环境中，可以包括：电塔T(这里，仅显示出与风险目标相关的电塔的局部即可)、电塔上的风险目标(这里，以绝缘子D为例)、电塔间连接的电线L(这里，若风险目标附近不涉及电线，则也可以不显示出电线)。此外，所述虚拟环境中，还可以包括地理环境，这里，示出立体的三维地图M。
下面，进一步结合图3B来详细说明电塔风险目标巡检任务仿真过程。
图3B示意性示出了本公开实施例的无人机仿真飞行方法的在电塔风险目标巡检仿真情形下的确定无人机是否成功完成仿真任务的步骤的简要流程图。
如图3B所示，在所述仿真任务包括无人机电塔细节巡检任务，具 体为包括指示无人机的拍摄装置拍摄电塔细节(即，拍摄作为风险目标的绝缘子、电塔铭牌等)的任务的情况下，图1中所述的确定无人机是否成功完成仿真任务的步骤S3可以包括：确定无人机的摄像装置是否按预定要求拍摄到电塔上的所有风险目标。其中，所述确定无人机的摄像装置是否按预定要求拍摄到电塔上的所有风险目标可以具体按照所有风险目标的个数逐个包括：
(1)确定无人机的拍摄装置是否拍摄到所述风险目标的整体结构，也就是说，确定在所述仿真画面中是否显示出所述风险目标的整体。例如，如图3A所示的绝缘子D；
(2)确定所述风险目标的中心点是否满足预设区域要求，该预设区域要求例如可以为：风险目标的中心点出现在所述仿真画面的中心区域。例如，如图3A所示的绝缘子D；
(3)确定无人机与所述风险目标是否满足预设距离要求，该预设距离要求例如可以为：无人机与风险目标的中心点的距离小于预设距离阈值，该预设距离阈值可以具体根据例如摄像设备的拍摄性能(例如，分辨率、清晰度、有效像素等)来具体设置，只要是能够在所述仿真画面中清晰显示出所述风险目标的整体结构的无人机与风险目标的最大距离即可，换言之，若超过该最大距离，则在所述仿真画面中无法清晰显示所述风险目标的整体结构。
此外，在上述的各个确定步骤中，例如，可以包括：在电塔上的风险目标处预先设置用于表征风险目标的整体结构(即，整体轮廓)的标记点。例如，可以与上述的电塔巡检仿真任务类似地，在风险目标例如这里的绝缘子D的各个端部(这里，例如有4个)分别预先标记所述标记点。
这样，所述风险目标的中心点就可以表示为由这些所述标记点构成的网格中的中心点。此外，所述确定无人机的拍摄装置是否拍摄到风险目标的整体结构可以包括：当所述标记点都出现在所述仿真画面中时，确定为无人机的摄像装置拍摄到所述风险目标的整体结构，否则确定为无人机的摄像装置没有拍摄到所述风险目标的整体结构。
此外，如图3B所示，上述的各个确定步骤中的具体运算可以例如 利用所述标记点由世界坐标转换为仿真画面中的画面坐标、利用所述标记点与无人机距离进行每帧计算等来实现。而且，也可以附加例如射线检测方法来实现。
最后，可以将例如成功完成仿真任务时风险目标的总个数、拍摄各个风险目标的距离的平均值、完成仿真任务用时(这里，例如拍摄用时)等与仿真任务相关的结果信息显示于所述仿真画面和/或记录于存储设备。
此外，整个仿真任务过程中，还可以随时将仿真任务的内容、仿真任务的当前步骤、当前步骤中的信息提示等显示于所述仿真画面中。这样，能够更方便仿真任务执行者理解任务、进行操作，进一步提高用户体验。
此外，在确定为成功完成电塔风险目标巡检的仿真任务之前与之后，在所述仿真画面中，所述的风险目标的显示模式发生改变。例如，成功之前，风险目标高亮显示或闪烁显示(即，非正常显示)，成功之后，风险目标非高亮显示或非闪烁显示(即，恢复正常显示)。此外，这种显示模式的改变可以是在整个成功完成电塔风险目标巡检的仿真任务之前与之后进行改变，或者针对逐一完成各个风险目标的成功拍摄之前与之后而就逐一即时进行显示模式改变。这样，能够使仿真任务执行者更快捷直观地获知成功与否的信息，进一步提高用户体验。
接下来，参照图4A、图4B来具体说明本公开实施例的无人机仿真飞行方法的电线巡检仿真任务过程。
图4A本公开实施例的无人机仿真飞行方法的在电线巡检仿真情形下的仿真画面的示例图。
如图4A所示，所述仿真画面模拟显示了执行电线巡检仿真任务的情形下的仿真画面。在该仿真画面中，模拟显示出无人机上安装的例如摄像头等摄像装置拍摄到的虚拟环境。在所述虚拟环境中，可以包括：、电塔间连接的电线L(这里，作为示例，显示出并行的三个电线。当然，也可以仅为一个电线)。此外，所述虚拟环境中，还可以包括地理环境，这里，示出立体的三维地图M。此外，所述虚拟环境中，还可以包括表示无人机上安装的摄像装置拍摄到并行电线L上的当前位置的并行指 针S，也就是说，该并行指针S是如图4A所示那样的横跨并行电线L而跟随无人机的拍摄动作而在沿并行电线L移动的指针标记。当然，该并行指针S的形状并不限定于图4A所示的形状，只要是能表示出无人机拍摄到并行电线L上的当前位置即可。另外，该并行指针S上还可以附带能够表示无人机的移动方向的例如图4A所示的箭头标记W。此外，在仿真画面中，还可以包括例如图4A所示的表示无人当前飞行高度等信息的高度标识H等其他辅助信息。
下面，进一步结合图4B来详细说明电线巡检任务仿真过程。
图4B示意性示出了本公开实施例的无人机仿真飞行方法的在电线巡检仿真情形下的确定无人机是否成功完成仿真任务的步骤的简要流程图。
如图4B所示，在所述仿真任务包括无人机电线巡检任务，具体为包括指示无人机的拍摄装置拍摄电线的任务的情况下，图1中所述的确定无人机是否成功完成仿真任务的步骤S3可以包括：确定无人机的摄像装置是否按预定要求拍摄到电线。其中，所述确定无人机的摄像装置是否按预定要求拍摄到电线可以具体包括：
(1)确定在无人机的摄像装置的拍摄过程中是否拍摄到并行的所有电线，也就是说，确定在所述仿真画面中是否显示出并行的所有电线。例如，如图4A所示的电线L(这里，例如有三个并行电线L)；
(2)确定无人机在垂直于电线的方向上与所示电线是否满足预设距离要求，该预设距离要求例如可以为：确定无人机与并行的所述电线中相距最近(当然，也可以相距最远、或相距适中)的电线的距离小于预设距离阈值，该预设距离阈值可以具体根据例如摄像设备的拍摄性能(例如，分辨率、清晰度、有效像素等)来具体设置，只要是能够在所述仿真画面中清晰显示出并行的所有电线的无人机与并行电线中相距最近(当然，也可以相距最远、或相距适中)的电线的最大距离即可，换言之，若超过该最大距离，则在所述仿真画面中无法清晰显示所有并行电线；
(3)确定无人机的摄像装置的拍摄角度是否满足预设拍摄要求，其中可以具体包括：确定无人机的摄像装置在垂直于所述电线的方向上 俯视该电线的角度是否在预设角度范围内，以使得在所述仿真画面中并行的所述电线出现在所述仿真画面的预定区域(例如，中央区域)且能够清晰分辨出并行的所有所述电线。例如，图4A所示的3个并行的电线L。
此外，在上述的各个确定步骤中，例如，可以包括：在电线上预先设置用于表征无人机的摄像装置当前拍摄到的该电线上的位置的标记点。该标记点可以是跟随无人机的拍摄(即，跟随无人机的移动)而沿着所述电线移动的点。这样，在所述仿真画面中，沿所述电线移动的该标记点在所述电线上就会形成轨迹。这里，例如，如图4A所示，在并行的电线L上以白线(这里，白线表示为作为突出显示的高亮显示)表示的部分就示出所述标记点的所述轨迹。也就是说，随着无人机巡检电线的进程，巡检完毕的部分的电线可以显示成例如高亮状态，这样的突出显示方式能够让仿真任务执行者实时观察到电线巡检的进程，从而提高用户体验。
这样，所述确定在无人机的拍摄装置的拍摄过程中是否拍摄到并行的所有电线可以包括：当并行的所有所述电线上的所述标记点都出现在所述仿真画面中时，确定为无人机的摄像装置的拍摄过程中拍摄到并行的所有电线，否则确定为无人机的摄像装置的拍摄过程中没有拍摄到并行的所有电线。
此外，如图4B所示，上述的各个确定步骤中的具体运算可以例如利用跟随电线的所述标记点由世界坐标转换为仿真画面中的画面坐标、利用跟随电线的所述标记点与无人机距离进行每帧计算等来实现。而且，也可以附加例如射线检测方法来实现。
此外，如图4A所示，在所述仿真画面中，在与并行的电线L垂直的方向上，以横跨并行的所有所述电线L的方式设置跟随所述标记点的移动的并行指针S。该指针S还可以示出如图4A所示的表示无人机的移动方向的例如箭头标记W。这样，能够更方便仿真任务执行者实时观察到电线巡检的进程，从而提高用户体验。
最后，可以将例如巡检电线的全过程的无人机距电线的垂直距离的平均值、完成仿真任务用时(这里，例如拍摄用时)等与仿真任务相关 的结果信息显示于所述仿真画面和/或记录于存储设备。
此外，整个仿真任务过程中，还可以随时将仿真任务的内容、仿真任务的当前步骤、当前步骤中的信息提示等显示于所述仿真画面中。这样，能够更方便仿真任务执行者理解任务、进行操作，进一步提高用户体验。
接下来，参照图5来具体说明本公开实施例的无人机仿真飞行方法的在电线巡检仿真情形下模拟受到电磁干扰的电磁干扰仿真任务过程。
图5示意性示出了本公开实施例的无人机仿真飞行方法的在电线巡检仿真情形下的模拟电磁干扰的简要流程图。
如图5所示，在所述仿真任务包括在无人机巡检电线过程中模拟电磁干扰的任务的情况下，图1中所述的确定无人机是否成功完成仿真任务的步骤S3可以包括：
(1)确定无人机与电线的距离是否在预设距离阈值以下。其中，该预设距离阈值可以根据电线的种类(例如，高压线缆、通信线缆等)而预先设置为该电线可能对无人机产生电磁干扰的电线与无人机的最大距离，也就是说，无人机与电线的距离若在该预设距离阈值以内，则无人机会受到电线的电磁干扰；
(2)当无人机与电线的距离在所述预设距离阈值以下的情况下，模拟所述无人机受到电线的电磁干扰，和/或在所述仿真画面中提示例如“距离电线太近！”、“请与电线保持足够距离！”等警告消息。
此外，所述确定所述无人机与所述电线的距离是否在预设距离阈值以下，可以包括：将所述电线转换为具有预设体积范围的条形要素，其中，所述预设体积范围可以是通过计算条形要素的点与点之间的距离而生成数量可调的距离检测体积，由此，确定无人机与所述条形要素即与所述距离检测体积的距离是否在所述预设距离阈值以下。
此外，所述模拟无人机受到电线的电磁干扰可以包括：将无人机的飞行模式切换为自动模式，在该自动模式下，对无人机实施例如矢量方向干扰作为偏向干扰来模拟无人机例如控制信号接收失灵等不受控制的风险状况。
此外，整个仿真任务过程中，同样还可以随时将仿真任务的内容、 仿真任务的当前步骤、当前步骤中的信息提示等显示于所述仿真画面中。这样，能够更方便仿真任务执行者理解任务、进行操作，进一步提高用户体验。
此外，上述这些无人机仿真任务仅仅是几种任务示例，并不限定本公开的技术方案。而且，作为无人机仿真训练用任务，这些任务既可以作为独立的训练任务来使用，也可以根据不同的训练、学习目的而随机组合来使用，即可以定制成各种各样的训练任务章节，由此能够进一步提高无人机仿真任务(例如，这里所示例的电力巡检仿真任务)的针对性、高度定制化以及灵活性。
下面，以图6为例，说明另一种以硬件方式来实现了本公开的无人机仿真飞行方法的无人机仿真飞行装置。
图6示意性示出了本公开另一实施例的无人机仿真飞行装置的结构简图。
如图6所示，无人机仿真飞行装置300可以包括：处理器310(例如，CPU等)、存储器320(例如，硬盘HDD、只读存储器ROM等)、在显示屏中显示仿真画面的显示器330。此外，还可以包括用虚线表示的可读存储介质321(例如，磁盘、光盘CD-ROM、USB等)。
此外，该图6仅是一个示例，并不限定本公开的技术方案。其中，移动路线生成装置300中的各个部分均可以是一个或多个，例如，处理器310既可以是一个也可以是多个处理器。
这样，不言而喻，本公开实施例的所述无人机仿真飞行方法的上文参考流程图(图1、2B、3B、4B、5)描述的过程可以被实现为计算机软件程序。在此，该计算机软件程序也可以为一个或多个。
于是，例如，所述计算机软件程序存储于所述无人机仿真飞行装置300的作为存储装置的存储器320中，通过执行该计算机软件程序，从而使所述无人机仿真飞行装置300的一个或多个处理器310执行本公开的图1、2B、3B、4B、5等流程图所示的所述无人机仿真飞行方法及其变形。
由此，同样能够更好地模拟实际无人机飞行环境的无人机模拟仿真，尤其例如电力线路巡检环境的真实模拟，以大幅度提高无人机电力线路 巡检的仿真训练效果和学习效率，从而大大提高用户体验。
此外，不言而喻，所述无人机仿真飞行方法同样可以作为计算机程序而存储于计算机可读存储介质(例如，图6所示的可读存储介质321)中，该计算机程序可以包括代码/计算机可执行指令，使计算机执行例如本公开的图1、2B、3B、4B、5等流程图所示的所述无人机仿真飞行方法及其变形。
此外，计算机可读存储介质，例如可以是能够包含、存储、传送、传播或传输指令的任意介质。例如，可读存储介质可以包括但不限于电、磁、光、电磁、红外或半导体系统、装置、器件或传播介质。可读存储介质的具体示例包括：磁存储装置，如磁带或硬盘(HDD)；光存储装置，如光盘(CD-ROM)；存储器，如随机存取存储器(RAM)或闪存；和/或有线/无线通信链路。
另外，计算机程序可被配置为具有例如包括计算机程序模块的计算机程序代码。应当注意，模块的划分方式和个数并不是固定的，本领域技术人员可以根据实际情况使用合适的程序模块或程序模块组合，当这些程序模块组合被计算机(或处理器)执行时，使得计算机可以执行例如上面结合图1、2B、3B、4B、5所描述的无人机仿真飞行方法的流程及其变形。
本领域技术人员可以理解，本公开的各个实施例和/或权利要求中记载的特征可以进行多种组合或/或结合，即使这样的组合或结合没有明确记载于本公开中。特别地，在不脱离本公开精神和教导的情况下，本公开的各个实施例和/或权利要求中记载的特征可以进行多种组合和/或结合。所有这些组合和/或结合均落入本公开的范围。
尽管已经参照本公开的特定示例性实施例示出并描述了本公开，但是本领域技术人员应该理解，在不背离所附权利要求及其等同物限定的本公开的精神和范围的情况下，可以对本公开进行形式和细节上的多种改变。因此，本公开的范围不应该限于所述实施例，而是应该不仅由所附权利要求来进行确定，还由所附权利要求的等同物来进行限定。

Claims (42)

  1. 一种无人机仿真飞行方法，其特征在于，所述方法包括：
    获取仿真任务，所述仿真任务包括第一任务和/或第二任务，所述第一任务用于指示所述无人机巡检电塔，所述第二任务用于指示所述无人机巡检电线；
    获取以所述无人机的摄像装置的视角观察到的仿真画面；
    根据所述仿真画面，确定所述无人机是否成功完成所述仿真任务。
  2. 根据权利要求1所述的方法，其特征在于，
    所述第一任务包括第一子任务和/或第二子任务，所述第一子任务用于指示所述无人机拍摄所述电塔，所述第二子任务用于指示所述无人机拍摄所述电塔上的风险目标，所述风险目标至少包括绝缘子、电塔铭牌中的一者，
    所述第二任务包括第三子任务和/或第四子任务，所述第三子任务用于指示所述无人机沿所述电线飞行，所述无人机在执行所述第四子任务时受到所述电线的模拟电磁干扰。
  3. 根据权利要求2所述的方法，其特征在于，
    所述仿真任务包括所述第一子任务时，所述确定所述无人机是否成功完成所述仿真任务包括：
    确定所述无人机的摄像装置是否按预定要求拍摄到所述电塔。
  4. 根据权利要求3所述的方法，其特征在于，
    所述确定所述无人机的摄像装置是否按预定要求拍摄到所述电塔，包括：
    确定所述无人机的摄像装置是否拍摄到所述电塔的整体结构；
    确定所述电塔的中心点是否满足第一预设区域要求；以及
    确定所述无人机与所述电塔是否满足第一预设距离要求。
  5. 根据权利要求4所述的方法，其特征在于，
    所述电塔上预先设置有用于表征所述电塔的整体结构的第一标记点，所述确定所述无人机的摄像装置是否拍摄到所述电塔的整体结构，包括：
    当所述第一标记点出现在所述仿真画面中时，确定为所述无人机的摄像装置拍摄到所述电塔的整体结构，否则确定为所述无人机的摄像装置没有拍摄到所述电塔的整体结构。
  6. 根据权利要求5所述的方法，其特征在于，
    所述第一标记点至少包括在所述电塔的塔顶端部、塔肩端部、以及塔底端部标记的点。
  7. 根据权利要求6所述的方法，其特征在于，
    所述电塔的中心点是由所述第一标记点构成的网格中的中心点。
  8. 根据权利要求4所述的方法，其特征在于，
    所述确定所述电塔的中心点是否满足第一预设区域要求，包括：
    确定所述电塔的中心点是否出现在所述仿真画面的中心区域。
  9. 根据权利要求4所述的方法，其特征在于，
    所述确定所述无人机与所示电塔是否满足第一预设距离要求，包括：
    确定所述无人机与所述电塔的距离是否小于第一预设距离阈值。
  10. 根据权利要求9所述的方法，其特征在于，
    所述无人机与所述电塔的距离是指所述无人机与所述电塔的中心点的距离。
  11. 根据权利要求9所述的方法，其特征在于，
    所述第一预设距离阈值是指在所述仿真画面中能够清晰显示出所述电塔的整体结构的所述无人机与所述电塔的最大距离。
  12. 根据权利要求2所述的方法，其特征在于，
    所述仿真任务包括所述第二子任务时，所述确定所述无人机是否成功完成所述仿真任务包括：
    确定所述无人机的摄像装置是否按预定要求拍摄到所述电塔上的所有所述风险目标。
  13. 根据利要求12所述的方法，其特征在于，
    所述确定所述无人机的摄像装置是否按预定要求拍摄到所述电塔上的所有所述风险目标，包括：
    确定所述无人机的摄像装置是否拍摄到所述风险目标的整体结构；
    确定所述风险目标是否满足第二预设区域要求；
    确定所述无人机与所述风险目标是否满足第二预设距离要求。
  14. 根据权利要求13所述的方法，其特征在于，
    所述风险目标处预先设置有用于表征所述风险目标的整体结构的第二标记点，所述确定所述无人机的摄像装置是否拍摄到所述风险目标的整体结构，包括：
    当所述第二标记点出现在所述仿真画面中时，确定为所述无人机的摄像装置拍摄到所述风险目标的整体结构，否则确定为所述无人机的摄像装置没有拍摄到所述风险目标的整体结构。
  15. 根据权利要求14所述的方法，其特征在于，
    所述第二标记点至少包括在所述风险目标的各个端部标记的点。
  16. 根据权利要求15所述的方法，其特征在于，
    所述风险目标的中心点是由所述第二标记点构成的网格中的中心点。
  17. 根据权利要求13所述的方法，其特征在于，
    所述确定所述风险目标的中心点是否满足第二预设区域要求，包括：
    确定所述风险目标的中心点是否出现在所述仿真画面的中心区域。
  18. 根据权利要求13所述的方法，其特征在于，
    所述确定所述无人机与所述风险目标是否满足第二预设距离要求，包括：
    确定所述无人机与所述风险目标的距离是否小于第二预设距离阈值。
  19. 根据权利要求18所述的方法，其特征在于，
    所述无人机与所述风险目标的距离是指所述无人机与所述风险目标的中心点的距离。
  20. 根据权利要求18所述的方法，其特征在于，
    所述第二预设距离阈值是指在所述仿真画面中能够清晰显示出所述风险目标的整体结构的所述无人机与所述风险目标的最大距离。
  21. 根据权利要求2所述的方法，其特征在于，
    在所述仿真画面中，在确定为成功完成所述仿真任务之前与确定为成功完成所述仿真任务之后，所述电塔和/或所述风险目标的显示模式发生改变。
  22. 根据权利要求21所述的方法，其特征在于，
    所述显示模式发生改变至少包括：
    从高亮显示改变为非高亮显示；或
    从闪烁显示改变为非闪烁显示。
  23. 根据权利要求2所述的方法，其特征在于，
    所述仿真任务包括所述第三子任务时，所述确定所述无人机是否成功完成所述仿真任务包括：
    确定所述无人机的摄像装置是否按预定要求拍摄到所述电线。
  24. 根据权利要求23所述的方法，其特征在于，
    所述确定所述无人机的摄像装置是否按预定要求拍摄到所述电线，包括：
    确定在所述无人机的摄像装置的拍摄过程中是否拍摄到并行的所有所述电线；
    确定所述无人机在垂直于所述电线的方向上与所述电线是否满足第三预设距离要求；以及
    确定所述无人机的摄像装置的拍摄角度是否满足预设拍摄要求。
  25. 根据权利要求24所述的方法，其特征在于，
    所述电线上预先设置有用于表征所述无人机的摄像装置当前拍摄到的所述电线上的位置的第三标记点，所述确定在所述无人机的摄像装置的拍摄过程中是否拍摄到并行的所有所述电线，包括：
    当并行的所有所述电线上的所述第三标记点都出现在所述仿真画面中时，确定为所述无人机的摄像装置的拍摄过程中拍摄到并行的所有所述电线，否则确定为所述无人机的摄像装置的拍摄过程中没有拍摄到并行的所有所述电线。
  26. 根据权利要求25所述的方法，其特征在于，
    所述第三标记点跟随所述无人机的移动而沿所述电线移动。
  27. 根据权利要求26所述的方法，其特征在于，
    在所述仿真画面中，对沿所述电线移动的所述第三标记点在所述电线上形成的轨迹进行突出显示。
  28. 根据权利要求27所述的方法，其特征在于，
    所述突出显示为高亮显示。
  29. 根据权利要求26所述的方法，其特征在于，
    在与并行的所述电线垂直的方向上，设置有跟随所述第三标记点的移动的并行指针。
  30. 根据权利要求29所述的方法，其特征在于，
    所述并行指针还示出所述无人机的移动方向。
  31. 根据权利要求24所述的方法，其特征在于，
    所述确定所述无人机在垂直于所述电线的方向上与所述电线是否满足第三预设距离要求，包括：
    确定所述无人机与并行的所述电线中相距最近的电线的距离是否小于第三预设距离阈值。
  32. 根据权利要求31所述的方法，其特征在于，
    所述第三预设距离阈值是指在所述仿真画面中能够清晰显示出并行的所有所述电线的所述无人机与并行的所述电线中相距最近的电线的最大距离。
  33. 根据权利要求24所述的方法，其特征在于，
    所述确定所述无人机的摄像装置的拍摄角度是否满足预设拍摄要求，包括：
    确定所述无人机的摄像装置在垂直于所述电线的方向上俯视所述电线的角度是否在预设角度范围内，以使得在所述仿真画面中所述电线出现在所述仿真画面的中央区域且能够清晰分辨出并行的所有所述电线。
  34. 根据权利要求2所述的方法，其特征在于，
    所述仿真任务包括所述第四子任务时，所述确定所述无人机是否成功完成所述仿真任务包括：
    确定所述无人机与所述电线的距离是否在第四预设距离阈值以下，
    当在所述第四预设距离阈值以下时，模拟所述无人机受到电磁干扰、和/或在所述仿真画面中提示警告消息。
  35. 根据权利要求34所述的方法，其特征在于，
    所述确定所述无人机与所述电线的距离是否在第四预设距离阈值以下，包括：
    将所述电线转换为具有预设体积范围的条形要素；
    确定所述无人机与所述条形要素的距离是否在所述第四预设距离阈值以下。
  36. 根据权利要求34所述的方法，其特征在于，
    所述模拟所述无人机受到电磁干扰，包括：
    将所述无人机切换为自动模式；
    对所述无人机施加偏向干扰，以模拟无人机不受控制。
  37. 根据权利要求1所述的方法，其特征在于，还包括：
    记录和/或显示与所示仿真任务相关的结果信息，
    所述结果信息至少包括：完成所述仿真任务的用时。
  38. 根据权利要求1所述的方法，其特征在于，还包括：
    显示所述仿真任务、所述仿真任务的当前步骤、以及所述当前步骤中的信息提示之中的一个或多个。
  39. 根据权利要求1所述的方法，其特征在于，还包括：
    在所述仿真画面中模拟显示虚拟环境，
    所述虚拟环境至少包括所述电塔和所述电线中的一者。
  40. 根据权利要求39所述的方法，其特征在于，
    所述虚拟环境还至少包括所述无人机的摄像装置当前拍摄到的二维或三维的地理环境。
  41. 一种无人机仿真飞行装置，包括：
    处理器；
    存储器，存储有机器可读指令，所述指令在被所述处理器执行时，使得所述处理器执行权利要求1～40中任一项所述的方法；和
    显示器，用于显示所述仿真画面。
  42. 一种计算机可读的记录介质，存储有可执行指令，该指令被处理器执行时使该处理器执行权利要求1-40中任一项所述的方法。
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