Autonomous navigation planning method and device for polling photovoltaic power station based on flying unmanned aerial vehicle

Abstract

The embodiment of the invention discloses an autonomous navigation planning method, device and equipment for polling a photovoltaic power station based on a flying unmanned aerial vehicle, and a storage medium, and belongs to the technical field of unmanned aerial vehicle navigation planning. The method comprises the following steps: constructing a three-dimensional map library and a constraint model, and obtaining the position of a multi-target photovoltaic power station; and performing autonomous route planning on the cruise flight unmanned aerial vehicle. According to the scheme, autonomous route planning is carried out on the flying unmanned aerial vehicle based on a circulation mode through the number of the obstacles passed by the flying unmanned aerial vehicle, the number of the obstacle-free unit bodies, the minimum value of the artificial potential field force, the flight time constraint and the power source constraint, and scientificity and applicability of autonomous planning are guaranteed.

Description

technical field [0001] The present application relates to the technical field of UAV navigation planning, and in particular to an autonomous navigation planning method, device, equipment and storage medium for patrolling photovoltaic power plants based on flying UAVs. Background technique [0002] The flying UAV needs to find the optimal path in the process of reaching the target point. The traditional path planning of the flying UAV regards the flying UAV as a particle for analysis; the path planning of the flying UAV often only selects The route with fewer obstacles is used as the final route, but it ignores the limitations of power and flight time. Therefore, in the prior art, when planning autonomous routes for flying UAVs, there is a lack of conditional factors, and there are insufficient autonomous route planning methods. scientific question. Contents of the invention [0003] The purpose of the embodiments of the present application is to propose an autonomous navi...

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Problems solved by technology

[0002] The flying UAV needs to find the optimal path in the process of reaching the target point. The traditional path planning of the flying UAV regards the flying UAV as a particle for analysis; the path planning of the flying UAV often only selects The route with fewer obstacles is used as the final route, but it ignores the limitations of power and flight time. Therefore, in the prior art, when planning autonomous routes for flying UAVs, there is a lack of conditional factors, and there are insufficient autonomous route planning methods. scientific question

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