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Unmanned aerial vehicle autonomous obstacle avoidance inspection path planning method and device

A technology of inspection path and UAV, applied in three-dimensional position/channel control, vehicle position/route/height control, non-electric variable control, etc., can solve the problems of waste of manpower, low coverage, low accuracy, etc. Achieve the effects of avoiding collisions with obstacles, reducing the amount of computation, and improving flight safety and flight efficiency

Active Publication Date: 2021-02-05
MAINTENANCE COMPANY OF STATE GRID XINJIANG ELECTRIC POWER COMPANY +1
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Problems solved by technology

[0007] This paper is used to solve the technical problems of waste of manpower, low coverage and low accuracy in the prior art of unmanned aerial vehicles in substation inspection applications relying on manual inspection path planning.

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  • Unmanned aerial vehicle autonomous obstacle avoidance inspection path planning method and device
  • Unmanned aerial vehicle autonomous obstacle avoidance inspection path planning method and device
  • Unmanned aerial vehicle autonomous obstacle avoidance inspection path planning method and device

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Embodiment Construction

[0077] The following will clearly and completely describe the technical solutions in the embodiments herein in conjunction with the accompanying drawings in the embodiments herein. Obviously, the described embodiments are only some of the embodiments herein, not all of them. Based on the embodiments herein, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts fall within the scope of protection herein.

[0078] In an embodiment of this paper, a method for autonomous obstacle avoidance inspection path planning of UAV is provided, such as figure 1 As shown, the method used to solve the problem of relying on manual inspection path planning for UAVs in substation inspection applications in the prior art has the technical problems of wasting manpower, low coverage, and low accuracy. Specifically, the UAV inspection path planning method includes:

[0079] Step 110, establishing a three-dimensional model of the inspection area, the t...

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Abstract

The invention provides an unmanned aerial vehicle autonomous obstacle avoidance inspection path planning method and device, and belongs to the field of unmanned aerial vehicle inspection, and the unmanned aerial vehicle inspection path planning method comprises the steps: building a three-dimensional model of an inspection region, wherein the three-dimensional model comprises the point cloud dataof equipment in the inspection region; determining a three-dimensional inspection safety area according to the three-dimensional model and a no-fly strategy; determining a first inspection target taskpoint set according to the inspection plan and the three-dimensional model; and establishing a first inspection path according to the three-dimensional inspection safety area, the first inspection target task point set and the unmanned aerial vehicle information. According to the embodiment, absolute safety of the unmanned aerial vehicle during inspection can be guaranteed, the method has the characteristic of small calculation amount, the inspection path can be planned quickly, accurately and automatically, so that the unmanned aerial vehicle is feasible in the inspection area, obstacles areprevented from being collided, and flight safety and flight efficiency of inspection operation of the unmanned aerial vehicle in the inspection area are improved.

Description

technical field [0001] This paper relates to the field of UAV inspection, especially a method and device for UAV autonomous obstacle avoidance inspection path planning. Background technique [0002] Due to the high height and serious occlusion of the substation equipment, conventional methods cannot complete the inspection of the top of the equipment and the blind area. Monthly high-altitude inspections are carried out by operation and maintenance personnel using telescopes or cameras, which has the disadvantages of heavy workload and low efficiency. Moreover, the results of high-altitude inspections are greatly affected by objective factors such as the skills and height of inspectors, and it is impossible to conduct unified, scientific, and objective research and judgment on equipment defects. Now learn from the successful cases of the application of small multi-rotor UAVs in power transmission and other industries to realize periodic autonomous inspections, rapid location...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101Y02T10/40
Inventor 田小壮马辉欣刘家辛门宏跃曾庆松王伟光李洪渊彭敏柯飞达常雪婷段鹏飞付国萍黄净曹飞李伟靖李庆晨
Owner MAINTENANCE COMPANY OF STATE GRID XINJIANG ELECTRIC POWER COMPANY
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