Small unmanned aerial vehicle refined inspection path planning method, system and device based on three-dimensional voxelization map and medium

By using a refined path planning method based on 3D voxel maps, the problems of unsafe paths, low efficiency of inspection point traversal, and uneven flight paths for UAVs in complex 3D structures were solved, achieving safe and efficient UAV inspection path planning.

CN122258901APending Publication Date: 2026-06-23HUBEI YUNDING DIGITAL TECHNOLOGY CO LTD
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Patent Information

Application Number
CN202610347796.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-03-20
Publication Date
2026-06-23

AI Technical Summary

Technical Problem

Existing UAV inspection path planning technologies suffer from problems such as unsafe paths, low efficiency in traversing inspection points, and uneven flight paths in complex three-dimensional structures, which are particularly difficult to solve effectively in the inspection of large infrastructure.

Method used

A refined inspection path planning method based on 3D voxelized maps is adopted. By combining environmental voxelization and obstacle expansion, inspection viewpoint generation and S-shaped sorting, 3D A* path search, path smoothing processing and coordinate transformation, a safe and smooth flight path is generated.

Benefits of technology

It improves the safety and efficiency of drone inspections, generates smoother paths, reduces disordered flight and gimbal jitter, improves the quality of inspection data, and realizes a fully automated processing flow.

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Abstract

The invention discloses a small unmanned aerial vehicle refined inspection path planning method, system, setting and medium based on a three-dimensional voxelization map, and relates to the technical field of unmanned aerial vehicle control, the method comprises the following steps: S1, carrying out three-dimensional voxelization modeling on an inspection object and environment, and carrying out safety expansion processing on obstacles; s2, carrying out clustering on the original inspection view point set, and sorting view points in a clustering cluster according to an S-shaped path sequence; s3, generating a collision-free broken line path by adopting an optimized three-dimensional A * algorithm; s4, smoothing the broken line path generated in the step S3 by adopting a sight line algorithm, removing redundant nodes, and generating a smooth flight path; and S5, converting the smoothed waypoint from a local model coordinate to a WGS84 latitude and longitude coordinate by adopting a decoupling fitting strategy based on a control point, and generating a GPS waypoint sequence which can be executed by the unmanned aerial vehicle. According to the method provided by the invention, the problems of unsafe path planning, low inspection point traversal efficiency, unsmooth flight path and the like during inspection in the prior art can be solved.
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