Unmanned aerial vehicle autonomous flight method for constructing three-dimensional real scene based on LiDAR data

Abstract

The invention discloses an unmanned aerial vehicle autonomous flight method for constructing a three-dimensional real scene based on LiDAR data. The unmanned aerial vehicle autonomous flight method comprises the steps of constructing an autonomous flight no-fly zone, carrying out route autonomous planning and flying, and autonomously performing route correction and obstacle avoidance, wherein theno-fly zone is in the three-dimensional real scene constructed on the basis of LiDAR point cloud data, and a flyable block and a no-fly block are divided by using an algorithm; the route autonomous planning flight is the process of combining differential GPS with the LiDAR data and autonomously planning the optical flight route of unmanned aerial vehicle electric power inspection according to a specified principle and realizing autonomous flying; and the route correction and obstacle avoidance regards a planned flight path and airborne radar data as judgment standards, conducts flight path correction on the situation that flight deviates from the flight path due to internal and external factors, and can realize autonomous original-path return can be achieved when necessary. The unmanned aerial vehicle autonomous flight method solves problems of large line patrol potential safety hazards, low line patrol efficiency and redundant personnel allocation of an existing unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the technical field of autonomous power inspection of unmanned aerial vehicle, in particular to an autonomous flying method of unmanned aerial vehicle based on LiDAR data to construct a three-dimensional real scene. Background technique [0002] The transmission lines in China are scattered, wide in area, complex in terrain and harsh in natural environment. Power lines and tower accessories have been exposed to the wild for a long time, and they must be repaired or replaced in time due to continuous mechanical tension, lightning flashover, material aging, and human influence. Insulators are also damaged by lightning strikes, tree growth causes power line discharge, and towers are stolen and other unexpected events must also be dealt with in a timely manner. The traditional manual inspection method not only has a large workload but also has difficult conditions, especially for inspections of mountainous areas and transmission l...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the embodiments of the present invention is to provide a UAV autonomous flight method based on LiDAR data to construct a three-dimensional real scene, so as to solve the problems of the existing UAV line inspection, such as high safety hazards, low line inspection efficiency, and redundant staffing.

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