An intelligent route planning method for reservoir inspection

Abstract

The present invention discloses an intelligent route planning method for reservoir inspection. The intelligent route planning method includes: obtaining geographical information of the inspection area according to GIS; dividing the inspection area into multiple inspection area units according to the geographical location information and the location information of the UAV airport; during the area division process, automatically planning the inspection routes within the inspection area units according to the parameters of the camera carried by the UAV and the performance of the UAV. It realizes the automatic identification and division of the reservoir inspection area, improves the coverage rate of the inspection area; realizes the automation of route planning, improves the accuracy of route planning; reduces resource waste and improves the inspection efficiency.

Description

Technical Field

[0001] The present invention relates to the field of reservoir inspection, and particularly 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, potential safety hazards can be discovered and handled in a timely manner, preventing the occurrence of reservoir accidents, providing an important basis for reservoir maintenance and renovation, and ensuring the long-term safe operation of the reservoir.

[0003] With the rapid development of unmanned aerial vehicle (UAV) technology, using UAVs to replace manual inspections has begun to be promoted in various industries such as water conservancy, power, and surveying and mapping. Among them, the route planning of UAVs is a prerequisite for using UAVs for operations. The route planning of many existing systems relies on a certain tool (UAV remote controller or route planning platform) to manually mark points on the map within the area to be inspected to plan the route of the UAV. In the case of a large area to be inspected and the deployment of multiple UAVs, it is necessary for the user to perform manual calculations and multiple operations to plan the optimal route. This method may have problems such as incomplete route planning coverage or overlapping coverage areas, resulting in the loss of inspection result data and the waste of UAV 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] Obtaining geographical information of the inspection area according to GIS;

[0007] Dividing the inspection area into multiple inspection area units according to the geographical location information and the location information of the UAV airport;

[0008] During the area division process, according to the parameters of the camera carried by the UAV and the performance of the UAV, automatically plan the inspection route within the inspection area unit.

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

[0010] Obtaining the list D of airport information deployed in the reservoir area L ={P1, P2, P3...}, and successively calculating the maximum flight mileage that each airport can inspect;

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

[0012] Optionally, the specific steps of dividing the inspection area into multiple inspection area units according to the geographical location information and the position information of the UAV airport include:

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

[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 calculate a quadrilateral area as the dam inspection area based on the 4 vertices. Taking the straight lines k1k2 and k3k4 connected by the intersection points of the dam inspection area boundary and the two sides of the reservoir as the dividing lines, divide the entire area into three parts: the dam inspection area A1, the upstream area A u , and the downstream area A d , and put A u and A d into the list A of areas to be inspected L , where k1 and k2 are the starting key points of area A u , and k3 and k4 are the starting key points of area A d .

[0015] Optionally, during the area division process, automatically plan the inspection route within the inspection area unit according to the parameters of the camera carried by the UAV and the performance of the UAV, which 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 divided of this airport;

[0017] Plan the inspection route within the dam area according to the airport location and the parameter information of the camera carried by the UAV.

[0018] Optionally, the traversal of the airport list D L, calculate the distance from the airport to the dam in sequence, find the airport closest to the dam, and add the dam inspection area to the list of inspection areas to be segmented for this airport. Specifically, it includes:

[0019] The calculation method of the distance from the airport to the dam. Taking airport P1 as an example, assume the position 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] Calculate the distances from the airport to the 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 value among the four values as the distance d1 from P1 to the dam area, d1 = min(pd1, pd2, pd3, pd4);

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

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

[0029] Optionally, the specific steps of planning the inspection route within the dam area according to the airport location and the parameters of the load camera carried by the UAV include:

[0030] (1) Calculate the starting waypoint: The position of airport P is denoted as (x p ,y p ,z p );

[0031] Calculate the distances from airport P to the four key points of 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] Take the key point corresponding to the minimum distance d1 = min(pd1, pd 2, pd3, pd4) as the starting waypoint for calculation, assumed to be 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 straight line where the intersection points k3 and k4 are located

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

[0040] 3) Calculate the route length:

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

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

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

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

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

[0046] Find the intersection point closest to the previous adjacent waypoint, assumed to be k new3 ;

[0047] Calculate the new waypoint according to the coordinates of k new3 , the parameters k and b, and the waypoint spacing d h ;

[0048] 7) Repeat steps 2) - 6) until the route distance d r is greater than the flight distance d max At this point, assume the waypoint is p last (x, y, z); all the waypoints calculated before plast form a route, denoted as r1, and are placed in the route list of the dam area;

[0049] 8) Determine whether p last is within the dam area. If it is, use this point as the starting point of the new route and continue to execute the above steps 1) - 7) to calculate the new route;

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

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

[0052] Partitioning and route planning for areas outside the dam area, including:

[0053] Take out an area A from the list A of areas to be partitioned L ={A u , A d};

[0054] Calculate the distances from each airport to area A u ; u Calculate the range A of the area that the UAV can inspect according to the airport location and the parameters of the load camera carried by the UAV

[0055] ; d1 Put the remaining area A1 = A

[0056] – A u into the list A of areas to be partitioned d1 , where k3 and k4 are the starting key points of the remaining area; L Repeat the steps until all areas are partitioned and placed in the inspection area list of the corresponding airport, and place the generated area routes in the corresponding areas.

[0057] Optionally, the specific steps for calculating the distances from each airport to area A

[0058] include: u Take out an airport P1 from the airport list D

[0059] ; L Calculate the distances pd1 and pd2 from P1 to the key points k1 and k2 of area A

[0060] ; u ;

[0061]

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

[0063] In the loop calculation step, calculate the distances d2, d3,... from all airports to area A u ;

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

[0065] An intelligent route planning method for reservoir inspection provided by the present invention, the intelligent route planning method includes: obtaining the geographical information of the inspection area according to GIS; dividing the inspection area into multiple inspection area units according to the geographical location information and the location information of the UAV airport; during the area division process, automatically plan the inspection routes within the inspection area units according to the parameters of the camera carried by the UAV and the performance of the UAV. Realize the automatic identification and division of the reservoir inspection area, improve the coverage rate of the inspection area; realize the automation of route planning, reduce manual operations, and improve the accuracy of route planning; reduce resource waste and improve the inspection efficiency.

[0066] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the following specifically gives the specific embodiments of the present invention. Brief Description of the Drawings

[0067] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0068] Figure 1 It is a flowchart of an intelligent route planning method for reservoir inspection provided by an embodiment of the present invention. Detailed Embodiments

[0069] The following will describe the exemplary embodiments of the present disclosure in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0070] In the embodiments of the specification, claims and drawings of the present invention, the terms "comprising", "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a series of steps or units are included.

[0071] The technical solutions of the present invention will be further described in detail below with reference to the drawings and embodiments.

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

[0073] I. Obtain geographical location information

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

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

[0076] II. Conduct a preliminary division of the region

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

[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 calculate a quadrilateral area as the inspection area of the dam based on the 4 vertices. Using the straight lines k1k2 and k3k4 connected by the intersection points of the boundary of the dam inspection area and the two bank lines of the reservoir as the dividing lines, divide the entire area into three parts: the dam inspection area A1, the upstream area A u , and the downstream area A d , and put A u and A d into the list A of areas to be inspected L , where k1 and k2 are used as the starting key points of area A u , and k3 and k4 are used as the starting key points of area A d .

[0079] III. Route Planning in the Dam Area

[0080] Formula 1: Route Spacing d w = ((Width of Photo Resolution * GSD) / 100) * ((100.0 - Lateral Overlap Degree) / 100);

[0081] Formula 2: Waypoint Spacing d h = ((Height of Photo Resolution * GSD) / 100) * ((100.0 - Forward Overlap Degree) / 100);

[0082] 1. Traverse the airport list D L , and calculate the distance from the airport to the dam in sequence according to the following calculation method. Find the airport closest to the dam. After finding it, add the dam inspection area to the list of inspection areas to be segmented of this airport.

[0083] The calculation method of the distance from the airport to the dam is as follows. Taking airport P1 as an example, assume the position 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) Calculate the distances from the airport to the four key points of the dam

[0085] Distance from P1 to k1:

[0086] Distance from P1 to k2:

[0087] Distance from P1 to k3:

[0088] Distance from P1 to k4:

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

[0090] pd4).

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

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

[0093] 2. Plan the inspection route within the dam area based on the airport location and the parameter information of the load camera carried by the UAV

[0094] (1) Calculate the starting waypoint

[0095] 1) Assume the position of airport P is denoted as (x p , y p , z p )

[0096] 2) Calculate the distances from airport P to the four key points of the 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] Take the key point corresponding to the minimum distance d1 = min(pd1, pd 2, pd3, pd4) as the calculated starting waypoint, assume it is k4(x4, y4, z4), then the route length d r = pd4;

[0102] (2) Calculate the next waypoint

[0103] 1) Calculate the parameters k and b of the line where the intersection points k3 and k4 are located

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

[0105] 3) Calculate the route length:

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

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

[0108] 5) Determine whether the waypoint has reached k3. If not, continue to execute step 1).

[0109] 6) Otherwise, calculate the first waypoint of the adjacent route. The calculation method is as follows:

[0110] Translate the adjacent route k3k4 by a distance d w (Calculated according to formula one);

[0111] Find the new intersection point k of the translated line k1k2 and the reservoir boundary new3 、k new4 ;

[0112] Find the intersection point closest to the previous adjacent waypoint, assumed to be k new3 ;

[0113] According to the coordinates of k new3 coordinates, parameters k, b, and waypoint spacing d h Calculate the new waypoint.

[0114] 7) Repeat steps 2) to 6) until the route distance d r is greater than the flight distance d max At this point, assume the waypoint is p last (x, y, z); All the waypoints calculated before plast form a route, denoted as r1, and put it into the route list in the dam area;

[0115] 8) Determine whether p last is within the dam area. If so, use this point as the starting point of the new route and continue to execute the above steps 1) to 7) to calculate the new route;

[0116] 9) If the last waypoint has exceeded the dam area, stop the calculation, and the route planning within the dam area is completed.

[0117] IV. Division and Route Planning of Areas outside the Dam Area

[0118] 1. Take out an area A from the list A of areas to be divided L ={A u , A d}; u

[0119] 2. Calculate the distances from each airport to area A u

[0120] (1) Take out an airport P1 from the airport list D L ;

[0121] (2) Calculate the distances pd1 and pd2 from P1 to the key points k1 and k2 of area A u ; ​

[0122]

[0123] (3) Take the minimum value d1 = min(pd1, pd2) as the distance from airport P1 to area Au;

[0124] (4) Loop through steps (1) to (3) to calculate the distances d2, d3,... from all airports to area Au;

[0125] (5) Calculate the minimum value d = min(d1, d2, d3,...) of all the distances.

[0126] 3. Calculate the range A of the area that can be inspected by the UAV based on the position of the airport and the parameters of the load camera carried by the UAV d1 , and the inspection area calculation process is as follows:

[0127] (1) Take out an inspection area A from the inspection area list of the airport p(x p , y p , z p ); d1

[0128] (2) Calculate the first waypoint of the flight path

[0129] 1) Calculate the distance d1 from the airport to point k1

[0130] 2) Calculate the distance d2 from the airport to point k2

[0131] 3) If d1 < d2, take k1 as the starting point of the flight path, otherwise take k2 as the starting point. Assume the starting point is k1, and the starting point of the flight path is denoted as point1(x, y, z)

[0132] 4) Calculate the parameters k and b according to point k1 and k2 and the straight line calculation formula y = kx + b;

[0133] 5) Calculate the waypoint spacing d according to formula two h , the coordinates of point1 and the parameters k and b, and the formula y = kx + b, calculate the point p1(x1, y1, z1) that meets the waypoint spacing as the first waypoint of the flight path, and append it to the flight path point list of the area;

[0134] 6) Calculate the length of the flight path:

[0135] (3) Calculate the next waypoint

[0136] 1) According to the slope and the last waypoint plast(x l , y l , z l ) in the flight path list, calculate the next waypoint pnext(xn , y n , z n );

[0137] 2) Calculate the route length:

[0138] 3) Determine whether the flight distance is greater than the maximum flight distance d of the airport UAV. max , if it is greater, jump to step 7), otherwise continue to execute downward, where the flight distance = d r + the return distance, and the return distance is calculated as follows:

[0139]

[0140] 4) Determine whether the waypoint has reached k2. If not, continue to execute step 1)

[0141] 5) Otherwise, calculate the first waypoint of the adjacent route. The calculation method is as follows:

[0142] Translate the adjacent route k1k2 by a distance d w (Calculated according to formula one);

[0143] Find the intersection points k3 and k4 of the translated straight line k3k4 and the reservoir boundary line;

[0144] Find the intersection point closest to the previous adjacent waypoint, assumed to be k3;

[0145] According to the k3 coordinates, parameters k, b, and the waypoint spacing d h Calculate the new waypoint.

[0146] 6) Repeat steps 1) to 5) until the route distance d r is greater than the flight distance d max ;

[0147] 7) If the last waypoint is just outside the reservoir boundary line, after translating this route by the route spacing

[0148] d w the straight line where the intersection points k3 and k4 with the reservoir area boundary line are located is the dividing line of this area; otherwise, the straight line where the intersection points k3 and k4 of the straight line where this waypoint is located and the reservoir area boundary line are located is the dividing line of this area; the area formed by the straight lines k1k2, k3k4 and the reservoir area boundary line is the new area A d1 ; where k1 and k2 are the starting key points of the area; k3 and k4 are the ending key points.

[0149] 4. Set the remaining area A1 = A u – A d1 Add it to the list of areas to be divided A LAmong them, k3 and k4 are the starting key points of the remaining area.

[0150] Repeat steps 1 to 4 until all areas are segmented and placed in the inspection area list of the corresponding airport, and the generated area flight routes are placed in the corresponding areas.

[0151] Beneficial effects: Obtain the geographical information of the inspection area according to GIS. Through the automatic flight route planning module, according to the geographical location information of the area and the location information of the UAV airport, the inspection area is segmented into a series of small inspection areas to achieve full coverage of the inspection area; during the area segmentation process, according to the parameters of the camera carried by the UAV and the performance of the UAV, the inspection flight routes within the small area are automatically planned to achieve the automation of flight route planning and improve the flight route planning efficiency.

[0152] Realize the automatic identification and segmentation of the reservoir inspection area and improve the coverage rate of the inspection area;

[0153] Realize the automation of flight route planning, reduce manual operations, and improve the accuracy of flight route planning;

[0154] Reduce resource waste and improve inspection efficiency.

[0155] The above specific implementation manners further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only the specific implementation manners of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent route planning method for reservoir inspection, characterized in that, The intelligent route planning method includes: Obtain the geographical information of the inspection area according to GIS, including: Obtain the list D of airport information deployed in the reservoir area L ={P1, P2, P3...}, and calculate the maximum flight mileage that each airport can inspect in turn; Obtain the regional geographical information, and call the GIS interface to obtain the coordinate position list PL1 of the reservoir area boundary line and the coordinate position list PL2 of the dam; According to the geographical location information and the location information of the UAV airport, divide the inspection area into multiple inspection area units, including: Put the entire reservoir area into the list A of areas to be cut L ; Traverse the list of coordinate positions of the dam to 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 calculate a quadrilateral area as the inspection area of the dam based on the four vertices. Using the straight lines k1k2 and k3k4 connected by the intersection points of the boundary of the dam inspection area and the shorelines of the reservoir as dividing lines, divide the entire area into three parts: the dam inspection area A1, the upstream area A u , and the downstream area A d , and put A u and A d into the inspection list A L , where k1 and k2 are the starting key points of area A u , and k3 and k4 are the starting key points of area A d ; During the area division process, automatically plan the inspection routes within the inspection area units according to the parameters of the cameras carried by the UAVs and the performance of the UAVs, including: Traverse the airport list D L , successively calculate the distance from the airport to the dam, find the airport closest to the dam, and add the dam inspection area to the list of inspection areas to be segmented for this airport; Plan the inspection routes within the dam area according to the airport location and the parameter information of the cameras carried by the UAVs, including: (1) Calculate the starting waypoint: The position of airport P is denoted as (x p , y p , z p ); Calculate the distances from the airport P to the 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: Distance from P to k4: Take the key point corresponding to the minimum distance d1 = min(pd1, pd 2, pd3, pd4) as the starting waypoint for calculation, assumed to be 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 straight line where the intersection points k3 and k4 are located; 2) Calculate the next waypoint pnext(x l , y l , z l ) based on the slope and the last waypoint plast(x n , y n , z n ) in the route list; 3) Calculate the route length: 4) Determine whether the flight distance is greater than the maximum flight distance d of the airport UAV. max If it is greater, jump to step 8); otherwise, continue to execute downward, where the flight distance = d r + the return distance, and the return distance is calculated as follows: 5) Determine whether the waypoint has reached k3. If not, continue to execute step 2) 6) Otherwise, calculate the first waypoint of the adjacent route. The calculation method includes: Translate the adjacent route k3k4 by a distance d w ; Find the new intersection point k of the translated straight line k1k2 and the reservoir boundary new3 , k new4 ; Find the intersection point closest to the previous waypoint, assumed to be 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 is greater than the flight distance d max At this point, assume the waypoint is p last (x, y, z); all the waypoints calculated before plast form a route, denoted as r1, and are put into the route list in the dam area; 8) Determine p last whether it is within the dam area. If so, use this point as the starting point of the new route and continue to execute the above 1) - 7) to calculate the new route; 9) If the last waypoint has exceeded the dam area, stop the calculation, and the route planning within the dam area is completed.

2. The intelligent route planning method for reservoir inspection according to claim 1, wherein The traversed airport list D L , successively calculate the distance from the airport to the dam, find the airport closest to the dam, and add the dam inspection area to the list of inspection areas to be segmented for this airport, specifically including: The calculation method of the distance from the airport to the dam. Taking the airport P1 as an example, assume the position information of each point: P1(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; Calculate the distances from the airport to the four key points of the dam The distance from P1 to k1: Distance from P1 to k2: The distance from P1 to k3: The distance from P1 to k4: Take the minimum value among the four values as the distance d1 from P1 to the dam area, d1 = min(pd1, pd2, pd3, pd4); Similarly, calculate the distances from other airports to the dam area, d2, d3...; Calculate the minimum value d of all the distances, d = min(d1, d2, d3...), and add the dam area information to the inspection area list of the airport P with the minimum distance.

3. The intelligent route planning method for reservoir inspection according to claim 1, wherein, The intelligent route planning method further includes: The division and route planning of the area outside the dam area, including: From the list A of regions to be segmented L ={A u , A d}, extract a region A u ; Calculate the distances from each airport to Region A u ; Calculate the range A of the area that the UAV can inspect according to the location of the airport and the parameters of the camera carried by the UAV d1 ; Let the remaining area A1 = A u – A d1 be added to the list A of areas to be divided L where k3 and k4 are the starting key points of the remaining area; Repeat the steps until all areas are divided and placed in the inspection area lists of the corresponding airports, and place the generated area routes in the corresponding areas.

4. The intelligent route planning method for reservoir inspection according to claim 3, characterized in that, Calculating the distances from each airport to Region A u specifically includes: Retrieve an airport P1 from the airport list D L from it; Calculate the distance from P1 to Region A u The distances pd1 and pd2 between key points k1 and k2; Take the minimum value d1 = min(pd1, pd2) as the distance from airport P1 to area A u ; Loop calculation steps to calculate the distances d2, d3,... from all airports to Region A u ; Calculate the minimum value d of all the distances, d = min(d1, d2, d3...).

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