UAV path planning method and device based on three-dimensional laser point cloud model

Abstract

The present application provides a method and device for drone path planning based on a three-dimensional laser point cloud model. The method can realize automatic planning of drone inspection paths, shorten the time of inspection path planning, improve inspection efficiency, and ensure the safety and feasibility of the drone.

Description

Technical Field

[0001] The present application relates to the field of UAV technology, and in particular to a UAV path planning method and device based on a three-dimensional laser point cloud model. Background Art

[0002] With the development of science and technology and the needs of the industry, drones are increasingly used in the power field. For example, drones are used to inspect circuits to improve inspection efficiency.

[0003] At present, the inspection route of drones is generally planned manually, but the manual planning method has the problem of low efficiency. Summary of the invention

[0004] In order to solve the above technical problems, the embodiment of the present application provides a method and device for UAV path planning based on a three-dimensional laser point cloud model to achieve the purpose of improving the efficiency of inspection path planning. The technical solution is as follows:

[0005] On the one hand, the present application provides a UAV path planning method based on a three-dimensional laser point cloud model, comprising:

[0006] A point higher than the first distance of the passing electric tower is used as a navigation transition point, and a first flight path is determined to make the UAV fly from the starting position to the electric tower to be inspected;

[0007] Determine the tower type and the coordinates of the tower center of the power tower to be inspected;

[0008] Based on the tower type, determining each object to be photographed in the power tower to be inspected;

[0009] Sorting the objects to be photographed according to their heights, and grouping the sorted objects to be photographed based on the transmission line structure of the electric tower to be inspected, to obtain a plurality of groups of objects to be photographed;

[0010] Determine a drone inspection path corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the coordinates of the center of the tower;

[0011] Determine whether the drone inspection path corresponding to the group of objects to be photographed conflicts with the three-dimensional laser point cloud model of the tower to be inspected;

[0012] If there is a conflict, adjust the group of objects to be photographed, and return to the step of determining the inspection path of the drone corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the coordinates of the center of the tower;

[0013] If there is no conflict, the first flight path and the drone inspection path corresponding to the group of objects to be photographed are stored.

[0014] Optionally, based on the transmission line structure of the power tower to be inspected, the sorted objects to be photographed are grouped to obtain a plurality of groups of objects to be photographed, including:

[0015] Determining the objects to be photographed located inside the power tower to be inspected and the objects to be photographed located outside the power tower to be inspected from the sorted objects to be photographed;

[0016] Dividing the objects to be photographed located inside the power tower to be inspected into a group to obtain a first group of objects to be photographed;

[0017] Dividing the objects to be photographed located on the first side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into a group to obtain a second group of objects to be photographed;

[0018] The objects to be photographed located on the second side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected are divided into a group to obtain a third group of objects to be photographed.

[0019] Optionally, the method further includes:

[0020] The objects to be photographed having the same electric wire phase in the first group of objects to be photographed, the second group of objects to be photographed and the third group of objects to be photographed are respectively divided into one group to obtain a plurality of groups with the same phase.

[0021] Optionally, the method further includes:

[0022] Determine the height difference between every two objects to be photographed in the same phase group;

[0023] Divide the objects to be photographed whose height difference is greater than the second distance threshold into a group to obtain a first height zone group;

[0024] The objects to be photographed whose height difference is not greater than the second clustering threshold are divided into a group to obtain a second height zone group.

[0025] Optionally, the method further includes:

[0026] respectively determining the tower center distance difference between every two objects to be photographed in the first height zone group and the second height zone group;

[0027] The objects to be photographed whose tower center distance difference in the first height zone group and the second height zone group is greater than the second distance threshold are respectively divided into one group to obtain an outer zone group;

[0028] The objects to be photographed whose tower center distance difference in the first height zone group and the second height zone group is not greater than the second distance threshold are respectively divided into one group to obtain an inner zone group.

[0029] Optionally, after determining the drone inspection path corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the center coordinates of the tower, the method further includes:

[0030] Sorting the objects to be photographed in the outer group in descending order of height to obtain a first sorting result, and adjusting the inspection path of the drone corresponding to the outer group based on the first sorting result;

[0031] The objects to be photographed in the inner group are sorted in descending order of height to obtain a second sorting result, and based on the second sorting result, the inspection path of the drone corresponding to the inner group is adjusted.

[0032] Optionally, the method further includes:

[0033] A point that is a third distance higher than the highest waypoint in the second group of objects to be photographed is used as a starting point, and a point that is a third distance higher than the highest waypoint in the third group of objects to be photographed is used as an end point. A second flight path is determined based on the starting point and the end point, so that the drone starts from the starting point and flies to the end point at an altitude not lower than the starting point based on the second flight path.

[0034] Optionally, determining the objects to be photographed located inside the power tower to be inspected and the objects to be photographed located outside the power tower to be inspected from the sorted objects to be photographed includes:

[0035] Determine the objects to be photographed whose vertical distances from the tower center are less than the first distance threshold or whose vertical distances from the center line to the ground are less than the first distance threshold as the objects to be photographed located inside the power tower to be inspected, and the center line is the line between the center of the power tower adjacent to the power tower to be inspected and the center of the tower;

[0036] The objects to be photographed whose vertical distance to the tower center is not less than the first distance threshold or whose vertical plane distance from the center line to the ground is not less than the first distance threshold among the sorted objects to be photographed are determined as objects to be photographed located outside the electric tower to be inspected.

[0037] Optionally, among the objects to be photographed located outside the power tower to be inspected, the objects to be photographed located on the first side of the power tower to be inspected are divided into a group to obtain a second group of objects to be photographed, including:

[0038] Determine the objects to be photographed located outside the power tower to be inspected whose vertical distance to the center of the tower is greater than a first distance threshold or whose vertical distance from the center to the ground is greater than the first distance threshold as reference objects to be photographed located on the first side of the power tower to be inspected;

[0039] Determine a vector between the reference object to be photographed and the center of the tower;

[0040] If the angle between the vector of the object to be photographed in the object to be photographed located outside the power tower to be inspected and the vector between the reference object to be photographed and the center of the tower is less than 90 degrees, it is determined that the object to be photographed is located on the first side of the power tower to be inspected;

[0041] Dividing the objects to be photographed located on the first side of the electric tower to be inspected into a group to obtain a second group of objects to be photographed;

[0042] The objects to be photographed located on the second side of the power tower to be inspected are divided into a group among the objects to be photographed located outside the power tower to be inspected, to obtain a third group of objects to be photographed, including:

[0043] If the angle between the vector of the object to be photographed in the object to be photographed outside the power tower to be inspected and the vector between the reference object to be photographed and the center of the tower is greater than 90 degrees, it is determined that the object to be photographed is located on the second side of the power tower to be inspected;

[0044] The objects to be photographed located on the second side of the electric tower to be inspected are divided into a group to obtain a third group of objects to be photographed.

[0045] On the other hand, the present application provides a UAV path planning device based on a three-dimensional laser point cloud model, comprising:

[0046] A first determination module is used to determine a first flight path for the drone to fly from a starting position to the power tower to be inspected, using a point at a first distance above the passing power tower as a navigation transition point;

[0047] The second determination module is used to determine the tower type and the coordinates of the tower center of the power tower to be inspected;

[0048] A third determination module is used to determine each object to be photographed in the power tower to be inspected based on the tower type;

[0049] A grouping module, used to sort the objects to be photographed according to their heights, and group the sorted objects to be photographed based on the transmission line structure of the electric tower to be inspected, to obtain a plurality of groups of objects to be photographed;

[0050] A fourth determination module, configured to determine a drone inspection path corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the coordinates of the center of the tower;

[0051] A fifth determination module is used to determine whether the drone inspection path corresponding to the group of objects to be photographed conflicts with the three-dimensional laser point cloud model of the tower to be inspected;

[0052] A first adjustment module, configured to return to executing, if there is a conflict, the fourth determination module to determine the drone inspection path corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the coordinates of the center of the tower;

[0053] A storage module is used to store the first flight path and the drone inspection path corresponding to the group of objects to be photographed if there is no conflict.

[0054] Compared with the prior art, the beneficial effects of this application are:

[0055] In the present application, by taking a point that is a first distance higher than a passed electric tower as a navigation transition point, a flight path for a drone to fly from a starting position to a tower to be inspected is determined, the tower type and tower center coordinates of the tower to be inspected are determined, and based on the tower type, each object to be photographed in the tower to be inspected is determined, and each object to be photographed is sorted according to height. Based on the transmission line structure of the tower to be inspected, the sorted objects to be photographed are grouped to obtain a plurality of groups of objects to be photographed, and based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the center coordinates of the tower, a drone inspection path corresponding to the group of objects to be photographed is determined, and it is determined whether the drone inspection path corresponding to the group of objects to be photographed conflicts with the three-dimensional laser point cloud model of the tower to be inspected. If there is no conflict, the flight path and the drone inspection path corresponding to the group of objects to be photographed are stored to realize automatic planning of the drone inspection path, which can shorten the time for inspection path planning, improve inspection efficiency, and ensure the safety and feasibility of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0057] Figure 1 This is a flow chart of a method for UAV path planning based on a three-dimensional laser point cloud model provided in Example 1 of the present application;

[0058] Figure 2It is a structural schematic diagram of a UAV path planning device based on a three-dimensional laser point cloud model provided in this application. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0060] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0061] Reference Figure 1 , is a flow chart of a UAV path planning method based on a three-dimensional laser point cloud model provided in Example 1 of the present application, such as Figure 1 As shown, the method may include but is not limited to the following steps:

[0062] Step S11, taking a point at a first distance above the passing electric tower as a navigation transition point, and determining a first flight path for the drone to fly from the starting position to the electric tower to be inspected.

[0063] In the present application, there is no limitation on the size of the first distance. For example, the first distance may be, but is not limited to, 30 meters.

[0064] Step S12: determine the tower type and the coordinates of the tower center of the power tower to be inspected.

[0065] Step S13: Based on the tower type, determine each object to be photographed in the power tower to be inspected.

[0066] The objects to be photographed may include but are not limited to: insulators, ground wire hanging points, tower heads or tower bodies.

[0067] In this embodiment, a correspondence between each tower type and the object to be photographed is pre-constructed, and based on the tower type and the correspondence, each object to be photographed in the power tower to be inspected can be determined.

[0068] Step S14: sort the objects to be photographed according to their heights.

[0069] Specifically, the objects to be photographed may be sorted in descending order of height.

[0070] Step S15: grouping the sorted objects to be photographed based on the transmission line structure of the power tower to be inspected to obtain a plurality of groups of objects to be photographed.

[0071] This step may include but is not limited to:

[0072] S151, determining, from the sorted objects to be photographed, objects to be photographed located inside the power tower to be inspected and objects to be photographed located outside the power tower to be inspected.

[0073] This step may include but is not limited to:

[0074] S1511. Determine the objects to be photographed whose vertical distance to the center of the tower is less than a first distance threshold or whose vertical distance from the center line to the ground is less than the first distance threshold as the objects to be photographed located inside the tower to be inspected, and the center line is the line between the center of the tower adjacent to the tower to be inspected and the center of the tower.

[0075] S1512: Determine the objects to be photographed whose vertical distance to the tower center is not less than a first distance threshold or whose vertical distance from the center line to the ground is not less than the first distance threshold as the objects to be photographed located outside the power tower to be inspected.

[0076] S152: Divide the objects to be photographed located inside the power tower to be inspected into a group to obtain a first group of objects to be photographed.

[0077] S153, dividing the objects to be photographed located on the first side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into a group to obtain a second group of objects to be photographed;

[0078] This step may include but is not limited to:

[0079] S1531, determining the objects to be photographed located outside the power tower to be inspected whose vertical distance to the center of the tower is greater than a first distance threshold or whose vertical distance from the center to the ground is greater than the first distance threshold as reference objects to be photographed located on the first side of the power tower to be inspected;

[0080] S1532, determining a vector between the reference object to be photographed and the center of the tower;

[0081] S1533: if the angle between the vector of the object to be photographed located outside the power tower to be inspected and the vector between the reference object to be photographed and the center of the tower is less than 90 degrees, determine that the object to be photographed is located on the first side of the power tower to be inspected;

[0082] S1534, dividing the objects to be photographed located on the first side of the electric tower to be inspected into a group to obtain a second group of objects to be photographed;

[0083] S154: Divide the objects to be photographed located on the second side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into one group to obtain a third group of objects to be photographed.

[0084] This step may include but is not limited to:

[0085] S1541: If the angle between the vector of the object to be photographed located outside the power tower to be inspected and the vector between the reference object to be photographed and the center of the tower is greater than 90 degrees, determine that the object to be photographed is located on the second side of the power tower to be inspected;

[0086] S1542: Divide the objects to be photographed located on the second side of the electric tower to be inspected into a group to obtain a third group of objects to be photographed.

[0087] In this embodiment, based on steps S151-S154, the inspection paths corresponding to the objects to be photographed inside and outside the tower to be inspected can be determined, thereby solving the problem of the objects to be photographed inside and outside the tower to be inspected (such as insulators).

[0088] In this embodiment, when flying from the first side of the electric tower to be inspected to the second side of the electric tower to be inspected, the following steps may be performed to ensure the safety of flying from the first side to the second side:

[0089] A point that is a third distance higher than the highest waypoint in the second group of objects to be photographed is used as a starting point, and a point that is a third distance higher than the highest waypoint in the third group of objects to be photographed is used as an end point. A second flight path is determined based on the starting point and the end point, so that the drone starts from the starting point and flies to the end point at an altitude not lower than the starting point based on the second flight path.

[0090] In the present application, there is no limitation on the size of the third distance. For example, the third distance may be, but is not limited to, 20 meters.

[0091] This step may also include but is not limited to:

[0092] S151, determining the objects to be photographed located inside the power tower to be inspected and the objects to be photographed located outside the power tower to be inspected from the sorted objects to be photographed;

[0093] S152, dividing the objects to be photographed located inside the power tower to be inspected into a group to obtain a first group of objects to be photographed;

[0094] S153, dividing the objects to be photographed located on the first side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into a group to obtain a second group of objects to be photographed;

[0095] S154: Divide the objects to be photographed located on the second side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into one group to obtain a third group of objects to be photographed.

[0096] S155 , respectively grouping the objects to be photographed having the same electric wire phase in the first group of objects to be photographed, the second group of objects to be photographed, and the third group of objects to be photographed into one group to obtain a plurality of groups with the same electric wire phase.

[0097] In this embodiment, the electric wire phase may include but is not limited to: A phase, B phase or C phase in the three-phase electric phase.

[0098] Based on step S155, the waypoint location problem can be solved.

[0099] This step may also include but is not limited to:

[0100] S151, determining the objects to be photographed located inside the power tower to be inspected and the objects to be photographed located outside the power tower to be inspected from the sorted objects to be photographed;

[0101] S152, dividing the objects to be photographed located inside the power tower to be inspected into a group to obtain a first group of objects to be photographed;

[0102] S153, dividing the objects to be photographed located on the first side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into a group to obtain a second group of objects to be photographed;

[0103] S154: Divide the objects to be photographed located on the second side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into one group to obtain a third group of objects to be photographed.

[0104] S155 , respectively grouping the objects to be photographed having the same electric wire phase in the first group of objects to be photographed, the second group of objects to be photographed, and the third group of objects to be photographed into one group to obtain a plurality of groups with the same electric wire phase.

[0105] S156, determining the height difference between every two objects to be photographed in the same phase group;

[0106] S157, dividing the objects to be photographed whose height difference is greater than the second distance threshold into a group to obtain a first height zone group;

[0107] S158: Divide the objects to be photographed whose height difference is not greater than the second clustering threshold into one group to obtain a second height zone group.

[0108] Based on steps S156-S158, the problem of 4 times the same tower height can be solved.

[0109] This step may also include but is not limited to:

[0110] S151, determining the objects to be photographed located inside the power tower to be inspected and the objects to be photographed located outside the power tower to be inspected from the sorted objects to be photographed;

[0111] S152, dividing the objects to be photographed located inside the power tower to be inspected into a group to obtain a first group of objects to be photographed;

[0112] S153, dividing the objects to be photographed located on the first side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into a group to obtain a second group of objects to be photographed;

[0113] S154: Divide the objects to be photographed located on the second side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into one group to obtain a third group of objects to be photographed.

[0114] S155 , respectively grouping the objects to be photographed having the same electric wire phase in the first group of objects to be photographed, the second group of objects to be photographed, and the third group of objects to be photographed into one group to obtain a plurality of groups with the same electric wire phase.

[0115] S156, determining the height difference between every two objects to be photographed in the same phase group;

[0116] S157, dividing the objects to be photographed whose height difference is greater than the second distance threshold into a group to obtain a first height zone group;

[0117] S158: Divide the objects to be photographed whose height difference is not greater than the second clustering threshold into one group to obtain a second height zone group.

[0118] S159, respectively determining the tower center distance difference between every two objects to be photographed in the first height group and the second height group;

[0119] S1510, respectively dividing the objects to be photographed in the first height zone group and the second height zone group whose tower center distance difference is greater than the second distance threshold into one group to obtain an outer zone group;

[0120] S1511. Divide the objects to be photographed whose tower center distance difference in the first height zone group and the second height zone group is not greater than the second distance threshold into one group to obtain an inner zone group.

[0121] Based on steps S159-S1511, the 4-round problem inside and outside the same tower can be solved.

[0122] Step S16: determining the drone inspection path corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the coordinates of the center of the tower.

[0123] In this embodiment, it is possible but not limited to: taking a point that is a second distance away from the center of the tower in the direction from the center of the tower to the object to be photographed as a waypoint corresponding to the object to be photographed; based on the waypoints corresponding to each of the objects to be photographed, determining the drone inspection path corresponding to the group of objects to be photographed, the drone inspection path includes the waypoints corresponding to each of the objects to be photographed.

[0124] Specifically, the coordinates of the waypoint may be calculated based on the center coordinates of the object to be photographed, the coordinates of the center of the tower and the second distance.

[0125] In this embodiment, based on the waypoint, the identifier and name of the object to be photographed corresponding to the action of calculating the waypoint can also be marked.

[0126] Corresponding to the implementation of steps S151-S1511, the following steps may be performed after step S16 to correct the inspection path of the drone:

[0127] S161. Sort the objects to be photographed in the outer group in descending order of height to obtain a first sorting result, and adjust the drone inspection path corresponding to the outer group based on the first sorting result.

[0128] S162: Sort the objects to be photographed in the inner group in descending order of height to obtain a second sorting result, and adjust the drone inspection path corresponding to the inner group based on the second sorting result.

[0129] In this embodiment, the shooting angle (e.g., pan / tilt angle) and camera parameters corresponding to the objects to be photographed in the group of objects to be photographed can also be determined based on the inspection path of the drone corresponding to the group of objects to be photographed. Specifically, the camera parameters (e.g., the zoom multiple of the camera) can be calculated according to the distance between the waypoint corresponding to the object to be photographed and the object to be photographed and the size of the object to be photographed.

[0130] Step S17: determine whether the drone inspection path corresponding to the group of objects to be photographed conflicts with the three-dimensional laser point cloud model of the tower to be inspected.

[0131] If yes, go to step S18; if no, go to step S19.

[0132] In the implementation method corresponding to steps S151-S1511, if there is a conflict, return to step S15.

[0133] Step S18: adjust the group of objects to be photographed, and return to step S16.

[0134] Corresponding to the implementation of steps S151-S1511, adjusting the group of objects to be photographed may include but is not limited to: adjusting the first distance threshold and the second distance threshold, and returning to execute step S151.

[0135] Step S19: storing the first flight path and the drone inspection path corresponding to the group of objects to be photographed.

[0136] At the same time, the shooting angles and camera parameters corresponding to the objects to be photographed in the group of objects to be photographed may also be stored.

[0137] In this embodiment, by taking a point higher than the first distance of the passed electric tower as a navigation transition point, a flight path for the drone to fly from the starting position to the electric tower to be inspected is determined, the tower type and tower center coordinates of the electric tower to be inspected are determined, and based on the tower type, each object to be photographed in the electric tower to be inspected is determined, and each object to be photographed is sorted according to height. Based on the transmission line structure of the electric tower to be inspected, the sorted objects to be photographed are grouped to obtain multiple groups of objects to be photographed, and based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the center coordinates of the tower, the drone inspection path corresponding to the group of objects to be photographed is determined, and it is determined whether the drone inspection path corresponding to the group of objects to be photographed conflicts with the three-dimensional laser point cloud model of the electric tower to be inspected. If there is no conflict, the flight path, the drone inspection path corresponding to the group of objects to be photographed, and the shooting angle and camera parameters corresponding to the objects to be photographed are stored to realize automatic planning of the drone inspection path, which can shorten the time for inspection path planning, improve inspection efficiency, and ensure the safety and feasibility of the drone.

[0138] Next, the UAV path planning device based on the three-dimensional laser point cloud model provided in the present application is introduced. The UAV path planning device based on the three-dimensional laser point cloud model introduced below and the UAV path planning method based on the three-dimensional laser point cloud model introduced above can be referenced to each other.

[0139] See also Figure 2 The UAV path planning device based on the three-dimensional laser point cloud model includes: a first determination module 100, a second determination module 200, a third determination module 300, a grouping module 400, a fourth determination module 500, a fifth determination module 600, a first adjustment module 700 and a storage module 800.

[0140] The first determination module 100 is used to determine a first flight path for the drone to fly from a starting position to the power tower to be inspected, taking a point at a first distance above the passing power tower as a navigation transition point;

[0141] The second determination module 200 is used to determine the tower type and the coordinates of the tower center of the power tower to be inspected;

[0142] A third determination module 300 is used to determine each object to be photographed in the power tower to be inspected based on the tower type;

[0143] A grouping module 400 is used to sort the objects to be photographed according to their heights, and group the sorted objects to be photographed based on the transmission line structure of the power tower to be inspected to obtain a plurality of groups of objects to be photographed;

[0144] A fourth determination module 500 is used to determine the drone inspection path corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the coordinates of the center of the tower;

[0145] A fifth determination module 600 is used to determine whether the drone inspection path corresponding to the group of objects to be photographed conflicts with the three-dimensional laser point cloud model of the tower to be inspected;

[0146] The first adjustment module 700 is used for returning to the fourth determination module 500 to determine the inspection path of the drone corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the coordinates of the center of the tower if there is a conflict;

[0147] The storage module 800 is used to store the first flight path and the drone inspection path corresponding to the group of objects to be photographed if there is no conflict.

[0148] In this embodiment, the grouping module 400 may be specifically used for:

[0149] Determining the objects to be photographed located inside the power tower to be inspected and the objects to be photographed located outside the power tower to be inspected from the sorted objects to be photographed;

[0150] Dividing the objects to be photographed located inside the power tower to be inspected into a group to obtain a first group of objects to be photographed;

[0151] Dividing the objects to be photographed located on the first side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into a group to obtain a second group of objects to be photographed;

[0152] The objects to be photographed located on the second side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected are divided into a group to obtain a third group of objects to be photographed.

[0153] In this embodiment, the grouping module 400 may also be used for:

[0154] The objects to be photographed having the same electric wire phase in the first group of objects to be photographed, the second group of objects to be photographed and the third group of objects to be photographed are respectively divided into one group to obtain a plurality of groups with the same phase.

[0155] In this embodiment, the grouping module 400 may also be used for:

[0156] Determine the height difference between every two objects to be photographed in the same phase group;

[0157] Divide the objects to be photographed whose height difference is greater than the second distance threshold into a group to obtain a first height zone group;

[0158] The objects to be photographed whose height difference is not greater than the second clustering threshold are divided into a group to obtain a second height zone group.

[0159] In this embodiment, the grouping module 400 may also be used for:

[0160] respectively determining the tower center distance difference between every two objects to be photographed in the first height zone group and the second height zone group;

[0161] The objects to be photographed whose tower center distance difference in the first height zone group and the second height zone group is greater than the second distance threshold are respectively divided into one group to obtain an outer zone group;

[0162] The objects to be photographed whose tower center distance difference in the first height zone group and the second height zone group is not greater than the second distance threshold are respectively divided into one group to obtain an inner zone group.

[0163] In this embodiment, the above device may further include:

[0164] The second adjustment module is used for:

[0165] Sorting the objects to be photographed in the outer group in descending order of height to obtain a first sorting result, and adjusting the inspection path of the drone corresponding to the outer group based on the first sorting result;

[0166] The objects to be photographed in the inner group are sorted in descending order of height to obtain a second sorting result, and based on the second sorting result, the inspection path of the drone corresponding to the inner group is adjusted.

[0167] In this embodiment, the above device may further include:

[0168] The sixth determination module is used for:

[0169] A point that is a third distance higher than the highest waypoint in the second group of objects to be photographed is used as a starting point, and a point that is a third distance higher than the highest waypoint in the third group of objects to be photographed is used as an end point. A second flight path is determined based on the starting point and the end point, so that the drone starts from the starting point and flies to the end point at an altitude not lower than the starting point based on the second flight path.

[0170] In this embodiment, the process of the grouping module determining the objects to be photographed located inside the power tower to be inspected and the objects to be photographed located outside the power tower to be inspected from the sorted objects to be photographed may specifically include:

[0171] Determine the objects to be photographed whose vertical distances from the tower center are less than the first distance threshold or whose vertical distances from the center line to the ground are less than the first distance threshold as the objects to be photographed located inside the power tower to be inspected, and the center line is the line between the center of the power tower adjacent to the power tower to be inspected and the center of the tower;

[0172] The objects to be photographed whose vertical distance to the tower center is not less than the first distance threshold or whose vertical plane distance from the center line to the ground is not less than the first distance threshold among the sorted objects to be photographed are determined as objects to be photographed located outside the electric tower to be inspected.

[0173] In this embodiment, the grouping module 400 divides the objects to be photographed located on the first side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into a group to obtain a second group of objects to be photographed, which may specifically include:

[0174] Determine the objects to be photographed located outside the power tower to be inspected whose vertical distance to the center of the tower is greater than a first distance threshold or whose vertical distance from the center to the ground is greater than the first distance threshold as reference objects to be photographed located on the first side of the power tower to be inspected;

[0175] Determine a vector between the reference object to be photographed and the center of the tower;

[0176] If the angle between the vector of the object to be photographed in the object to be photographed located outside the power tower to be inspected and the vector between the reference object to be photographed and the center of the tower is less than 90 degrees, it is determined that the object to be photographed is located on the first side of the power tower to be inspected;

[0177] Dividing the objects to be photographed located on the first side of the electric tower to be inspected into a group to obtain a second group of objects to be photographed;

[0178] Accordingly, the grouping module 400 divides the objects to be photographed located on the second side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into one group to obtain a third group of objects to be photographed, which may specifically include:

[0179] If the angle between the vector of the object to be photographed in the object to be photographed outside the power tower to be inspected and the vector between the reference object to be photographed and the center of the tower is greater than 90 degrees, it is determined that the object to be photographed is located on the second side of the power tower to be inspected;

[0180] The objects to be photographed located on the second side of the electric tower to be inspected are divided into a group to obtain a third group of objects to be photographed.

[0181] It should be noted that each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0182] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0183] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0184] It can be known from the description of the above implementation mode that a person skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server 3, or a network device, etc.) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0185] The above is a detailed introduction to a UAV path planning method and system based on a three-dimensional laser point cloud model provided by the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A UAV path planning method based on a three-dimensional laser point cloud model, characterized in that: include: A point higher than the first distance of the passing electric tower is used as a navigation transition point, and a first flight path is determined to make the UAV fly from the starting position to the electric tower to be inspected; Determine the tower type and the coordinates of the tower center of the power tower to be inspected; Based on the tower type, determining each object to be photographed in the power tower to be inspected; Sorting the objects to be photographed according to their heights, and grouping the sorted objects to be photographed based on the transmission line structure of the electric tower to be inspected, to obtain a plurality of groups of objects to be photographed; The method comprises: grouping the sorted objects to be photographed based on the transmission line structure of the tower to be inspected to obtain a plurality of groups of objects to be photographed, including: determining objects to be photographed located inside the tower to be inspected and objects to be photographed located outside the tower to be inspected from the sorted objects to be photographed; dividing the objects to be photographed located inside the tower to be inspected into a group to obtain a first group of objects to be photographed; dividing the objects to be photographed located on the first side of the tower to be inspected among the objects to be photographed located outside the tower to be inspected into a group to obtain a second group of objects to be photographed; dividing the objects to be photographed located on the second side of the tower to be inspected among the objects to be photographed located outside the tower to be inspected into a group to obtain a third group of objects to be photographed; Determine a drone inspection path corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the coordinates of the center of the tower; Determine whether the drone inspection path corresponding to the group of objects to be photographed conflicts with the three-dimensional laser point cloud model of the tower to be inspected; If there is a conflict, adjust the group of objects to be photographed, and return to the step of determining the inspection path of the drone corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the coordinates of the center of the tower; If there is no conflict, the first flight path and the drone inspection path corresponding to the group of objects to be photographed are stored.

2. The method according to claim 1, characterized in that The method further comprises: The objects to be photographed having the same electric wire phase in the first group of objects to be photographed, the second group of objects to be photographed and the third group of objects to be photographed are respectively divided into one group to obtain a plurality of groups with the same phase.

3. The method according to claim 2, characterized in that The method further comprises: Determine the height difference between every two objects to be photographed in the same phase group; Divide the objects to be photographed whose height difference is greater than the second distance threshold into a group to obtain a first height zone group; The objects to be photographed whose height difference is not greater than the second distance threshold are divided into a group to obtain a second height zone group.

4. The method according to claim 3, characterized in that The method further comprises: respectively determining the tower center distance difference between every two objects to be photographed in the first height zone group and the second height zone group; The objects to be photographed whose tower center distance difference in the first height zone group and the second height zone group is greater than the second distance threshold are respectively divided into one group to obtain an outer zone group; The objects to be photographed whose tower center distance difference in the first height zone group and the second height zone group is not greater than the second distance threshold are respectively divided into one group to obtain an inner zone group.

5. The method according to claim 4, characterized in that After determining the inspection path of the drone corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the center coordinates of the tower, the method further includes: Sorting the objects to be photographed in the outer group in descending order of height to obtain a first sorting result, and adjusting the inspection path of the drone corresponding to the outer group based on the first sorting result; The objects to be photographed in the inner group are sorted in descending order of height to obtain a second sorting result, and based on the second sorting result, the inspection path of the drone corresponding to the inner group is adjusted.

6. The method according to any one of claims 2 to 4, characterized in that: The method further comprises: A point that is a third distance higher than the highest waypoint in the second group of objects to be photographed is used as a starting point, and a point that is a third distance higher than the highest waypoint in the third group of objects to be photographed is used as an end point. A second flight path is determined based on the starting point and the end point, so that the drone starts from the starting point and flies to the end point at an altitude not lower than the starting point based on the second flight path.

7. The method according to claim 1, characterized in that Determining the objects to be photographed located inside the power tower to be inspected and the objects to be photographed located outside the power tower to be inspected from the sorted objects to be photographed includes: Determine the objects to be photographed whose vertical distances from the tower center are less than the first distance threshold or whose vertical distances from the center line to the ground are less than the first distance threshold as the objects to be photographed located inside the power tower to be inspected, and the center line is the line between the center of the power tower adjacent to the power tower to be inspected and the center of the tower; The objects to be photographed whose vertical distance to the tower center is not less than the first distance threshold or whose vertical plane distance from the center line to the ground is not less than the first distance threshold among the sorted objects to be photographed are determined as objects to be photographed located outside the electric tower to be inspected.

8. The method according to claim 5, characterized in that The objects to be photographed located on the first side of the power tower to be inspected are divided into a group among the objects to be photographed located outside the power tower to be inspected to obtain a second group of objects to be photographed, including: Determine the objects to be photographed located outside the power tower to be inspected whose vertical distance to the center of the tower is greater than a first distance threshold or whose vertical distance from the center to the ground is greater than the first distance threshold as reference objects to be photographed located on the first side of the power tower to be inspected; Determine a vector between the reference object to be photographed and the center of the tower; If the angle between the vector of the object to be photographed in the object to be photographed located outside the power tower to be inspected and the vector between the reference object to be photographed and the center of the tower is less than 90 degrees, it is determined that the object to be photographed is located on the first side of the power tower to be inspected; Dividing the objects to be photographed located on the first side of the electric tower to be inspected into a group to obtain a second group of objects to be photographed; The objects to be photographed located on the second side of the power tower to be inspected are divided into a group among the objects to be photographed located outside the power tower to be inspected, to obtain a third group of objects to be photographed, including: If the angle between the vector of the object to be photographed in the object to be photographed outside the power tower to be inspected and the vector between the reference object to be photographed and the center of the tower is greater than 90 degrees, it is determined that the object to be photographed is located on the second side of the power tower to be inspected; The objects to be photographed located on the second side of the electric tower to be inspected are divided into a group to obtain a third group of objects to be photographed.

9. A UAV path planning device based on a three-dimensional laser point cloud model, characterized in that: include: A first determination module is used to determine a first flight path for the drone to fly from a starting position to the power tower to be inspected, using a point at a first distance above the passing power tower as a navigation transition point; The second determination module is used to determine the tower type and the coordinates of the tower center of the power tower to be inspected; A third determination module is used to determine each object to be photographed in the power tower to be inspected based on the tower type; A grouping module, used to sort the objects to be photographed according to their heights, and group the sorted objects to be photographed based on the transmission line structure of the electric tower to be inspected, to obtain a plurality of groups of objects to be photographed; The grouping module is specifically used to: determine the objects to be photographed located inside the power tower to be inspected and the objects to be photographed located outside the power tower to be inspected from the sorted objects to be photographed; divide the objects to be photographed located inside the power tower to be inspected into a group to obtain a first group of objects to be photographed; divide the objects to be photographed located on the first side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into a group to obtain a second group of objects to be photographed; divide the objects to be photographed located on the second side of the power tower to be inspected among the objects to be photographed located outside the power tower to be inspected into a group to obtain a third group of objects to be photographed; A fourth determination module, configured to determine a drone inspection path corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the coordinates of the center of the tower; A fifth determination module is used to determine whether the drone inspection path corresponding to the group of objects to be photographed conflicts with the three-dimensional laser point cloud model of the tower to be inspected; A first adjustment module, configured to return to executing, if there is a conflict, the fourth determination module to determine the drone inspection path corresponding to the group of objects to be photographed based on the center coordinates of the objects to be photographed in the group of objects to be photographed and the coordinates of the center of the tower; A storage module is used to store the first flight path and the drone inspection path corresponding to the group of objects to be photographed if there is no conflict.

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