Intelligent route planning method for reservoir inspection

Abstract

The invention discloses an intelligent route planning method for reservoir inspection. The intelligent route planning method comprises the following steps: acquiring geographic information of an inspection area according to a GIS (Geographic Information System); according to the geographic position information and the position information of the unmanned aerial vehicle airport, dividing the inspection area into a plurality of inspection area units; and in the region separation process, according to parameters of a camera loaded by the unmanned aerial vehicle and the performance of the unmanned aerial vehicle, automatically planning an inspection route in the inspection region unit. Automatic identification and segmentation of a reservoir inspection area are realized, and the coverage rate of the inspection area is improved; automation of route planning is realized, and route planning precision is improved; resource waste is reduced, and inspection efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of reservoir inspection, and in particular to an intelligent route planning method for reservoir inspection. Background Art

[0002] Reservoir inspection is an important part of reservoir safety management. Through regular and irregular inspections, safety hazards can be discovered and dealt with in a timely manner, reservoir accidents can be prevented, and an important basis for the maintenance and renovation of reservoirs can be provided to ensure the long-term safe operation of reservoirs.

[0003] With the rapid development of drone technology, the use of drones to replace manual inspections has begun to be promoted in various industries such as water conservancy, electricity, and surveying and mapping. Among them, drone route planning is a prerequisite for using drones for operations. The route planning of many existing systems relies on a certain tool (drone remote control or route planning platform) to manually map the area to be inspected to plan the drone's route. If the area to be inspected is large and multiple drones are deployed, it is necessary for the user to perform manual calculations and multiple operations to plan the optimal route. This method will have problems such as incomplete route planning coverage or repeated coverage, which will cause problems such as loss of inspection result data and waste of drone resources. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide an intelligent route planning method for reservoir inspection that overcomes the above problems or at least partially solves the above problems.

[0005] According to one aspect of the present invention, there is provided an intelligent route planning method for reservoir inspection, the intelligent route planning method comprising:

[0006] Obtain geographic information of the inspection area based on GIS;

[0007] According to the geographical location information and the location information of the drone airport, the inspection area is divided into multiple inspection area units;

[0008] During the area segmentation process, the inspection route within the inspection area unit is automatically planned according to the parameters of the drone-mounted camera and the performance of the drone.

[0009] Optionally, the obtaining geographical information of the inspection area according to GIS specifically includes:

[0010] Get the list of airport information deployed in the reservoir area D L ={P1, P2, P3...}, and calculate the maximum flight mileage that can be inspected at each airport in turn;

[0011] Obtain regional geographic information, and call the GIS interface to obtain the coordinate position list PL1 of the reservoir area boundary and the coordinate position list PL2 of the dam.

[0012] Optionally, dividing the inspection area into a plurality of inspection area units according to the geographic location information and the location information of the drone airport specifically includes:

[0013] Put the entire reservoir area into the list of areas to be cut A L middle;

[0014] Traverse the coordinate position list of the dam and find the vertex coordinates p of the dam in four directions e (x e ,y e ),p w (x w ,y w ),p s (x s ,y s ),p n (x n ,y n ), and a quadrilateral area is calculated based on the four vertices as the inspection area of ​​the dam, and the straight line k1k connecting the intersection of the dam inspection area boundary and the two banks of the reservoir 2、 k3k4 are dividing lines, dividing the entire area into three parts: dam inspection area A1, dam upstream area A u , area A downstream of the dam d , and A u and A d Add to waiting inspection list A L , where k1, k2 are the area A u The starting key points of area A are k3 and k4. d The starting key point.

[0015] Optionally, during the area segmentation process, automatically planning the inspection route within the inspection area unit according to the parameters of the drone-mounted camera and the performance of the drone specifically includes:

[0016] Traverse the airport list D L , calculate the distance from the airport to the dam in turn, find the airport closest to the dam, and add the dam inspection area to the list of inspection areas to be split for the airport;

[0017] Plan the inspection route within the dam area based on the airport location and the parameter information of the camera carried by the drone.

[0018] Optionally, the traversal of the airport list D L, calculate the distance from the airport to the dam in turn, find the airport closest to the dam, and add the dam inspection area to the list of inspection areas to be split at the airport. Specifically include:

[0019] The calculation method of the distance from the airport to the dam, taking airport P1 as an example, assumes the location information of each point:

[0020] d1(x p ,y p ,z p ),k1(x1,y1,z1),k2(x2,y2,z2),k3(x3,y3,z3),k4(x4,y4,z4); where z is the height relative to the horizontal plane;

[0021] The distance from the computer field to four key points of the dam

[0022] The distance from P1 to k1:

[0023] The distance from P1 to k2:

[0024] The distance from P1 to k3:

[0025] The distance from P1 to k4:

[0026] Take the minimum of the four values ​​as the distance from P1 to the dam area d1 = min (pd1, pd2, pd3, pd4);

[0027] Similarly, calculate the distances d2, d3, etc. from other airports to the dam area;

[0028] Calculate the minimum value of all distances d=min(d1, d2, d3...), and add the dam area information to the inspection area list of the airport P with the smallest distance.

[0029] Optionally, the planning of the inspection route within the dam area according to the airport location and the parameter information of the camera carried by the drone specifically includes:

[0030] (1) Calculate the starting point: The location of airport P is recorded as (x p ,y p ,z p );

[0031] The distances from the computer site P to four key points in the dam area A1;

[0032] The distance from P to k1:

[0033] The distance from P to k2:

[0034] The distance from P to k3:

[0035] The distance from P to k4:

[0036] The key point corresponding to the minimum distance d1=min(pd1,pd2,pd3,pd4) is used as the calculation starting point, assuming it is k4(x4,y4,z4); then the route length d r =pd4;

[0037] (2) Calculate the next waypoint, including:

[0038] 1) Calculate the parameters k and b of the line based on the intersection points k3 and k4

[0039] 2) According to the slope and the last waypoint plast(x) in the route list l ,y l ,z l ), calculate the next waypoint pnext(x n ,y n ,z n );

[0040] 3) Calculate the route length:

[0041] 4) Determine whether the flight distance is greater than the maximum flight distance d of the airport drone max If it is greater, jump to step 8), otherwise continue to execute downward, where the flight distance = d r +Return distance, the return distance is calculated as follows:

[0042] 5) Determine whether the waypoint has reached k3, if not, continue to step 2)

[0043] 6) Otherwise, calculate the first waypoint of the adjacent route, and the calculation method includes:

[0044] Shift the adjacent route k3k4 by a distance d w ;

[0045] Find the new intersection point k of the translated straight line k1k2 and the reservoir edge line new3 , k new4 ;

[0046] Find the nearest intersection point to the previous waypoint, assuming it is k new3 ;

[0047] According to k new3 Coordinates, parameters k, b, waypoint spacing d h Calculate new waypoints;

[0048] 7) Repeat steps 2) to 6) until the route distance d r Greater than the flight distance d max So far, assuming that the waypoint is p last (x, y, z); all the waypoints calculated before plast are a route, recorded as r1, and put into the route list of the dam area;

[0049] 8) Determine p last Is it in the dam area? If yes, take this point as the starting point of the new route and continue to perform 1) to 7) above to calculate the new route;

[0050] 9) If the last waypoint is beyond the dam area, the calculation is stopped and the route planning within the dam area is completed.

[0051] Optionally, the intelligent route planning method further includes:

[0052] Segmentation and route planning of areas outside the dam area, including:

[0053] From the list of regions to be segmented A L ={A u ,A d} Take out an area A u ;

[0054] Calculate the distance from each airport to area A u distance;

[0055] Calculate the range of the drone inspection area A based on the airport location and the parameters of the drone's payload camera d1 ;

[0056] The remaining area A1 = A u –A d1 Add to the list of areas to be segmented A L In , k3 and k4 are the starting key points of the remaining area;

[0057] Repeat the steps until all areas are divided and placed in the inspection area list of the corresponding airport, and place the generated regional routes in the corresponding areas.

[0058] Optionally, the calculation of each airport to area A u The distances include:

[0059] Take an airport P1 from the airport list PD;

[0060] Calculate P1 to region A u The distances pd1, pd2 between key points k1, k2;

[0061]

[0062] The minimum value d1=min(pd1,pd2) is used as the distance from airport P1 to area A. u distance;

[0063] Loop through the calculation steps to calculate all the airports to area A u The distances d2, d3, ...;

[0064] Calculate the minimum value of all distances d=min(d1, d2, d3...).

[0065] The present invention provides an intelligent route planning method for reservoir inspection, which includes: obtaining geographic information of the inspection area according to GIS; dividing the inspection area into multiple inspection area units according to the geographic location information and the location information of the drone airport; and automatically planning the inspection route within the inspection area unit according to the parameters of the drone-loaded camera and the performance of the drone during the area segmentation process. Automatic identification and segmentation of reservoir inspection areas are achieved to improve the coverage rate of inspection areas; automation of route planning is achieved to reduce manual operations and improve route planning accuracy; resource waste is reduced and inspection efficiency is improved.

[0066] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0068] Figure 1 A flow chart of an intelligent route planning method for reservoir inspection provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0070] The terms "comprises" and "having" and any variations thereof in the description embodiments, claims and drawings of the present invention are intended to cover non-exclusive inclusions, for example, including a series of steps or units.

[0071] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0072] like Figure 1 As shown, an intelligent route planning method for reservoir inspection includes:

[0073] 1. Obtaining geographic location information

[0074] 1. Get the list of airport information deployed in the reservoir area D L ={P1, P2, P3...}, and calculate the maximum flight mileage that can be inspected at each airport in turn.

[0075] 2. Obtain regional geographic information and call the GIS interface to obtain the coordinate position list PL1 of the reservoir area boundary and the coordinate position list PL2 of the dam.

[0076] 2. Preliminary segmentation of the region

[0077] 1. Put the entire reservoir area into the list of areas to be cut A L middle;

[0078] 2. Traverse the coordinate position list of the dam and find the vertex coordinates p of the dam in four directions e (x e ,y e ),p w (x w ,y w ),p s (x s ,y s ),p n (x n ,y n ), and a quadrilateral area is calculated based on the four vertices as the inspection area of ​​the dam, and the straight line k1k connecting the intersection of the dam inspection area boundary and the two banks of the reservoir 2、 k3k4 are dividing lines, dividing the entire area into three parts: dam inspection area A1, dam upstream area Au , area A downstream of the dam d , and A u and A d Add to waiting inspection list A L , where k1, k2 are the area A u The starting key points of area A are k3 and k4. d The starting key point.

[0079] 3. Route planning in the dam area

[0080] Formula 1: Route spacing d w =((width of image resolution * GSD) / 100)*((100.0 – lateral overlap) / 100);

[0081] Formula 2: Waypoint spacing d h = ((photo resolution height * GSD) / 100)*((100.0 – heading overlap) / 100);

[0082] 1. Traverse the airport list D L , calculate the distance from the airport to the dam in turn according to the following calculation method, find the airport closest to the dam, and then add the dam inspection area to the list of inspection areas to be split for the airport.

[0083] The distance from the airport to the dam is calculated as follows. Taking airport P1 as an example, assume that the location information of each point is as follows: d1(x p ,y p ,z p ),k1(x1,y1,z1),k2(x2,y2,z2),k3(x3,y3,z3),k4(x4,y4,z4). Where z is the height relative to the horizontal plane.

[0084] (1) Distances from the computer field to four key points of the dam

[0085] The distance from P1 to k1:

[0086] The distance from P1 to k2:

[0087] The distance from P1 to k3:

[0088] The distance from P1 to k4:

[0089] (2) Take the minimum of the four values ​​as the distance from P1 to the dam area d1 = min(pd1, pd2, pd3,

[0090] pd4).

[0091] (3) Similarly, calculate the distances d2, d3, etc. from other airports to the dam area.

[0092] (4) Calculate the minimum value of all distances d = min (d1, d2, d3, ...), and add the dam area information to the inspection area list of the airport P with the smallest distance.

[0093] 2. Plan the inspection route within the dam area based on the airport location and the camera parameters of the drone

[0094] (2) Calculate the starting point

[0095] 1) Assume that the location of airport P is denoted by (x p ,y p ,z p )

[0096] 2) Calculate the distance from field P to four key points in dam area A1

[0097] The distance from P to k1:

[0098] The distance from P to k2:

[0099] The distance from P to k3:

[0100] The distance from P to k4:

[0101] The key point corresponding to the minimum distance d1=min(pd1,pd2,pd3,pd4) is used as the calculation starting point. Assuming it is k4(x4,y4,z4), the route length d r =pd4;

[0102] (3) Calculate the next waypoint

[0103] 1) Calculate the parameters k and b of the line based on the intersection points k3 and k4

[0104] 2) According to the slope and the last waypoint plast(x) in the route list l ,y l ,z l ), calculate the next waypoint pnext(x n ,yn ,z n );

[0105] 3) Calculate the route length:

[0106] 4) Determine whether the flight distance is greater than the maximum flight distance d of the airport drone max If it is greater, jump to step 8), otherwise continue to execute downward, where the flight distance = d r +

[0107] Return distance, the return distance is calculated as follows:

[0108]

[0109] 5) Determine whether the waypoint has reached k3, if not, continue to step 1)

[0110] 6) Otherwise, calculate the first waypoint of the adjacent route as follows:

[0111] Shift the adjacent route k3k4 by a distance d w (calculated according to formula 1);

[0112] Find the new intersection point k of the translated straight line k1k2 and the reservoir edge line new3 , k new4 ;

[0113] Find the nearest intersection point to the previous waypoint, assuming it is k new3 ;

[0114] According to k new3 Coordinates, parameters k, b, waypoint spacing d h Calculate new waypoints.

[0115] 7) Repeat steps 2) to 6) until the route distance d r Greater than the flight distance d max So far, assuming that the waypoint is p last (x, y, z); all the waypoints calculated before plast are a route, recorded as r1, and put into the route list of the dam area;

[0116] 8) Determine p last Is it in the dam area? If so, take this point as the starting point of the new route and continue to perform 1) to 7) above to calculate the new route;

[0117] 9) If the last waypoint is beyond the dam area, the calculation is stopped and the route planning within the dam area is completed.

[0118] IV. Division of Areas outside the Dam Area and Route Planning

[0119] 1. Take out an area A from the list A of areas to be divided L ={A u , A d}} u

[0120] 2. Calculate the distances from each airport to area A u

[0121] (1) Take out an airport P1 from the list PD of airports;

[0122] (2) Calculate the distances pd1 and pd2 from P1 to the key points k1 and k2 of area A u ;

[0123]

[0124] (3) Take the minimum value d1 = min(pd1, pd2) as the distance from airport P1 to area Au;

[0125] (4) Loop through steps (1) to (3) to calculate the distances d2, d3,... from all airports to area Au;

[0126] (5) Calculate the minimum value d = min(d1, d2, d3...) of all distances.

[0127] 3. Calculate the range A of the area that the UAV can inspect according to the location of the airport and the parameters of the load camera carried by the UAV d1 , and the inspection area calculation process is as follows:

[0128] (1) Take out an inspection area A from the inspection area list of the airport p(x p , y p , z p ); d1

[0129] (2) Calculate the first waypoint of the route

[0130] 1) Calculate the distance d1 from the airport to point k1

[0131] 2) Calculate the distance d2 from the airport to point k2

[0132] 3) If d1 < d2, take k1 as the starting point of the route, otherwise take k2 as the starting point. Assume the starting point is k1, and the starting point of the route is denoted as point1(x, y, z)

[0133] 4) According to points k1 and k2 and the straight-line calculation formula y = kx + b, calculate the parameters k and b;

[0134] ​5) Calculate the waypoint distance d according to formula 2 h , point1 coordinates and parameters k, b, formula y = kx + b, calculate the point p1 (x1, y1, z1) that meets the waypoint spacing as the first waypoint of the route, and add it to the route point list of the area;

[0135] 6) Calculate the route length:

[0136] (3) Calculate the next waypoint

[0137] 1) According to the slope and the last waypoint plast(x) in the route list l ,y l ,z l ), calculate the next waypoint pnext(x n ,y n ,z n );

[0138] 2) Calculate the route length:

[0139] 3) Determine whether the flight distance is greater than the maximum flight distance d of the airport drone max， If it is greater, jump to step 7), otherwise continue to execute downward, where the flight distance = d r +Return distance, the return distance is calculated as follows:

[0140]

[0141] 4) Determine whether the waypoint has reached k2, if not, continue to step 1)

[0142] 5) Otherwise, calculate the first waypoint of the adjacent route as follows:

[0143] Shift the adjacent route k1k2 by a distance d w (calculated according to formula 1);

[0144] Find the intersection points k3 and k4 of the translated straight line k3k4 and the reservoir edge line;

[0145] Find the nearest intersection point to the previous waypoint, assuming it is k3;

[0146] According to k3 coordinates, parameters k, b, waypoint spacing d h Calculate new waypoints.

[0147] 6) Repeat steps 1) to 5) until the route distance d r Greater than the flight distance d max until;

[0148] 7) If the last waypoint is just outside the reservoir boundary, translate the route according to the route spacing.

[0149] d w The straight line where the intersection points k3 and k4 of the waypoint and the boundary line of the reservoir area are located is the dividing line of the area; otherwise, the straight line where the waypoint is located and the intersection points k3 and k4 of the boundary line of the reservoir area are located is the dividing line of the area; the area formed by the straight lines k1k2, k3k4 and the boundary line of the reservoir area is the new area A d1 ; k1 and k2 are the starting key points of the area; k3 and k4 are the ending key points.

[0150] 4. Set the remaining area A1=A u –A d1 Add to the list of areas to be segmented A L In , k3 and k4 are the starting key points of the remaining area.

[0151] Repeat steps 1 to 4 until all areas are divided and placed in the inspection area list of the corresponding airport, and place the generated regional routes in the corresponding areas.

[0152] Beneficial effects: The geographical information of the inspection area is obtained through GIS, and the inspection area is divided into a series of small inspection areas through the automatic route planning module according to the regional geographical location information and the location information of the drone airport, so as to achieve full coverage of the inspection area; during the area separation process, the inspection route within the small area is automatically planned according to the parameters of the drone load camera and the performance of the drone, so as to realize the automation of route planning and improve the efficiency of route planning.

[0153] Realize automatic identification and segmentation of reservoir inspection areas and improve inspection area coverage;

[0154] Realize the automation of route planning, reduce manual operations, and improve the accuracy of route planning;

[0155] Reduce resource waste and improve inspection efficiency.

[0156] The above specific implementation methods further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific implementation methods of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent route planning method for reservoir inspection, characterized in that: The intelligent route planning method comprises: Obtain geographic information of the inspection area based on GIS; According to the geographical location information and the location information of the drone airport, the inspection area is divided into multiple inspection area units; During the area segmentation process, the inspection route within the inspection area unit is automatically planned according to the parameters of the drone-mounted camera and the performance of the drone.

2. The intelligent route planning method for reservoir inspection according to claim 1 is characterized in that: The acquisition of geographic information of the inspection area according to GIS specifically includes: Get the list of airport information deployed in the reservoir area D L ={P1, P2, P3...}, and calculate the maximum flight mileage that can be inspected at each airport in turn; Obtain regional geographic information, and call the GIS interface to obtain the coordinate position list PL1 of the reservoir area boundary and the coordinate position list PL2 of the dam.

3. The intelligent route planning method for reservoir inspection according to claim 1 is characterized in that: The method of dividing the inspection area into a plurality of inspection area units according to the geographic location information and the location information of the drone airport specifically includes: Put the entire reservoir area into the list of areas to be cut A L middle; Traverse the coordinate position list of the dam and find the vertex coordinates p of the dam in four directions e (x e ,y e ),p w (x w ,y w ),p s (x s ,y s ),p n (x n ,y n ), and a quadrilateral area is calculated based on the four vertices as the inspection area of ​​the dam, and the straight line k1k connecting the intersection of the dam inspection area boundary and the two banks of the reservoir 2、 k3k4 are dividing lines, dividing the entire area into three parts: dam inspection area A1, dam upstream area A u , area A downstream of the dam d , and A u and A d Add to waiting inspection list A L , where k1, k2 are the area A u The starting key points of area A are k3 and k4. d The starting key point.

4. The intelligent route planning method for reservoir inspection according to claim 1 is characterized in that: In the process of area segmentation, according to the parameters of the drone-mounted camera and the performance of the drone, the inspection route within the inspection area unit is automatically planned, specifically including: Traverse the airport list D L , calculate the distance from the airport to the dam in turn, find the airport closest to the dam, and add the dam inspection area to the list of inspection areas to be split for the airport; Plan the inspection route within the dam area based on the airport location and the parameter information of the camera carried by the drone.

5. The intelligent route planning method for reservoir inspection according to claim 4 is characterized in that: The traversal of the airport list D L , calculate the distance from the airport to the dam in turn, find the airport closest to the dam, and add the dam inspection area to the list of inspection areas to be split at the airport. Specifically include: The calculation method of the distance from the airport to the dam, taking airport P1 as an example, assumes the location information of each point: d1(x p ,y p ,z p ),k1(x1,y1,z1),k2(x2,y2,z2),k3(x3,y3,z3),k4(x4,y4,z4); where z is the height relative to the horizontal plane; The distance from the computer field to four key points of the dam The distance from P1 to k1: The distance from P1 to k2: The distance from P1 to k3: The distance from P1 to k4: Take the minimum of the four values ​​as the distance from P1 to the dam area d1 = min (pd1, pd2, pd3, pd4); Similarly, calculate the distances d2, d3, etc. from other airports to the dam area; Calculate the minimum value of all distances d=min(d1, d2, d3...), and add the dam area information to the inspection area list of the airport P with the smallest distance.

6. The intelligent route planning method for reservoir inspection according to claim 4 is characterized in that: The planning of inspection routes within the dam area based on the airport location and the camera parameter information carried by the drone specifically includes: (1) Calculate the starting point: The location of airport P is recorded as (x p ,y p ,z p ); The distances from the computer site P to four key points in the dam area A1; The distance from P to k1: The distance from P to k2: The distance from P to k3: The distance from P to k4: The key point corresponding to the minimum distance d1=min(pd1,pd2,pd3,pd4) is used as the calculation starting point, assuming it is k4(x4,y4,z4); then the route length d r =pd4; (2) Calculate the next waypoint, including: 1) Calculate the parameters k and b of the line based on the intersection points k3 and k4; 2) According to the slope and the last waypoint plast(x) in the route list l ,y l ,z l ), calculate the next waypoint pn ext(x n ,y n ,z n ); 3) Calculate the route length: 4) Determine whether the flight distance is greater than the maximum flight distance d of the airport drone max If it is greater, jump to step 8), otherwise continue to execute downward, where the flight distance = d r +Return distance, the return distance is calculated as follows: 5) Determine whether the waypoint has reached k3, if not, continue to step 2) 6) Otherwise, calculate the first waypoint of the adjacent route, and the calculation method includes: Shift the adjacent route k3k4 by a distance d w ; Find the new intersection point k of the translated straight line k1k2 and the reservoir edge line new3 , k new4 ; Find the nearest intersection point to the previous waypoint, assuming it is k new3 ; According to k new3 Coordinates, parameters k, b, waypoint spacing d h Calculate new waypoints; 7) Repeat steps 2) to 6) until the route distance d r Greater than the flight distance d max So far, assuming that the waypoint is p last (x, y, z); all the waypoints calculated before plast are a route, recorded as r1, and put into the route list of the dam area; 8) Determine p last Is it in the dam area? If yes, take this point as the starting point of the new route and continue to perform 1) to 7) above to calculate the new route; 9) If the last waypoint is beyond the dam area, the calculation is stopped and the route planning within the dam area is completed.

7. The intelligent route planning method for reservoir inspection according to claim 1 is characterized in that: The intelligent route planning method further includes: Segmentation and route planning of areas outside the dam area, including: From the list of regions to be segmented A L ={A u ,A d } Take out an area A u ; Calculate the distance from each airport to area A u distance; Calculate the range of the drone inspection area A based on the airport location and the parameters of the drone's payload camera d1 ; The remaining area A1 = A u –A d1 Add to the list of areas to be segmented A L In , k3 and k4 are the starting key points of the remaining area; Repeat the steps until all areas are segmented and placed in the inspection area list of the corresponding airport, and place the generated regional routes in the corresponding areas.

8. The intelligent route planning method for reservoir inspection according to claim 7 is characterized in that: The calculation of each airport to area A u The distances include: Take an airport P1 from the airport list PD; Calculate P1 to region A u The distances pd1, pd2 between key points k1, k2; The minimum value d1=min(pd1,pd2) is used as the distance from airport P1 to area A. u distance; Loop through the calculation steps to calculate all the airports to area A u The distances d2, d3, ...; Calculate the minimum value of all distances d=min(d1, d2, d3...).

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