The invention relates to the field of unmanned aerial vehicle
route acquisition, in particular to an unmanned aerial vehicle dynamic inspection
route acquisition method and
system based on
laser point cloud. The method comprises the steps of comprehensive
processing of three-dimensional
point cloud data, marking of equipment inspection point positions to generate waypoints, safe distance collision inspection of the waypoints, position adjustment of the waypoints, planning of inspection paths and the like, through comprehensive
processing of the three-dimensional
point cloud data, including denoising, classification and
thinning, the quality of the point
cloud data can be remarkably improved, and by means of the
laser point cloud technology, the quality of the three-dimensional point
cloud data is improved. The
terrain and equipment characteristics of the to-be-inspected area can be accurately captured, so that the accuracy and reliability of inspection are improved. The steps of
waypoint safe distance collision inspection and
waypoint position adjustment further enhance the autonomous flight ability of the unmanned aerial vehicle, and ensure the safety and stability of the inspection process. When the routing inspection path is planned, an optimal
safe path algorithm is adopted, the path between two waypoints is searched, a local
route is generated, and finally the local route is connected to form a complete route, so that the high efficiency and integrity of routing inspection are ensured.