Unmanned aerial vehicle route planning method and system fused with inspection action

Abstract

The invention provides an unmanned aerial vehicle route planning method and system fusing inspection actions, and relates to the technical field of unmanned aerial vehicle inspection. The method comprises the following steps: acquiring GIS information in a highway scene; determining an inspection profile curve according to the GIS information; extracting a plurality of to-be-inspected targets in the inspection contour curve; calculating the lowest flight height of each to-be-inspected target inspected by the unmanned aerial vehicle through an unmanned aerial vehicle video signal transmission model; calculating an effective inspection distance range and a selectable flight height range of each to-be-inspected target; performing intersection calculation on the effective inspection distance range and the inspection contour curve to determine a hovering position; according to each hovering position, determining an inspection track; calculating the final flight height of the unmanned aerial vehicle on each to-be-inspected target; calculating a holder focal length parameter of each to-be-inspected target of the unmanned aerial vehicle; and planning the flight path of the unmanned aerial vehicle according to the hovering position, the inspection flight path, the final flight height and the cradle head focal length parameter.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle inspection technology, and in particular to a method and system for unmanned aerial vehicle trajectory planning integrating inspection actions. Background Art

[0002] The development of UAV technology has led to the increasing application of UAVs, such as power inspection, remote sensing aerial photography, emergency response, air logistics, agricultural and forestry plant protection, etc. UAV trajectory planning is a key technology in the automatic flight system of UAVs, which aims to design an optimized flight path for the UAV's patrol process to improve inspection efficiency and flight safety. With the development of UAV technology, trajectory planning not only needs to consider the flight path, but also the needs of mission objectives, such as monitoring, shooting or data collection. Effective trajectory planning can significantly improve the inspection quality of UAVs, reduce energy consumption, and optimize the overall operation effect. The action setting of the UAV is closely related to the flight trajectory. The organic combination of the two can improve inspection efficiency, reduce energy consumption, and ensure comprehensive coverage of inspection targets.

[0003] In the prior art, the methods of drone trajectory planning include multiple strategies; one is based on the task-driven grid method, which divides the flight space and combines the task requirements, sensor models and threat models, and uses the decision tree algorithm for classification output. Another is that under the energy consumption constraint, by quantifying the energy consumption requirements and shooting utility of the drone, the greedy algorithm is used to select the hovering point that maximizes the overall shooting utility. Another method combines the artificial bee colony algorithm and the gray wolf algorithm, and establishes a mathematical model through map information and flight environment conditions to plan the path.

[0004] However, existing UAV trajectory planning methods often only focus on a single inspection target. When faced with complex spatial domains and multi-target inspection requirements, it is difficult to strike a balance between algorithm complexity and performance. There is less consideration of the inspection perspective, and the focus is mainly on the flight path, resulting in low inspection video quality. It performs poorly when dealing with scenes with special flight curves, restricted areas, and altitude requirements, and it is difficult to meet these special requirements. Summary of the invention

[0005] In order to solve the existing UAV trajectory planning methods, which often only focus on a single inspection target, it is difficult to strike a balance between algorithm complexity and performance when faced with complex spatial domains and multi-target inspection needs. There is less consideration of the inspection perspective, and the focus is mainly on the flight path, resulting in low inspection video quality. The performance is poor when dealing with scenes with flight curves, restricted areas, and special requirements for height, and it is difficult to meet these special requirements. The present invention provides a UAV trajectory planning method and system that integrates inspection actions.

[0006] The technical solution provided by the embodiment of the present invention is as follows:

[0007] First aspect:

[0008] An embodiment of the present invention provides a method for unmanned aerial vehicle trajectory planning integrating inspection actions, comprising:

[0009] S1: Obtain GIS information in the highway scenario;

[0010] S2: Determine the inspection profile curve according to the GIS information;

[0011] S3: extracting a plurality of objects to be inspected from the inspection profile curve;

[0012] S4: Calculate the minimum flight altitude of each of the targets to be inspected by the drone through the drone video signal transmission model;

[0013] S5: Calculating the effective inspection distance range and the optional flight altitude range of each of the objects to be inspected;

[0014] S6: performing intersection calculation on the effective inspection distance range and the inspection profile curve to obtain the hovering position of the UAV on each of the objects to be inspected;

[0015] S7: Determine an inspection track according to each of the hovering positions;

[0016] S8: Calculating the final flight altitude of the UAV over each of the objects to be inspected using the optional flight altitude range and the minimum flight altitude as constraints;

[0017] S9: Calculating the pan / tilt focal length parameters of each of the targets to be inspected by the drone;

[0018] S10: Planning the track of the UAV according to the hovering position, the inspection track, the final flight altitude and the gimbal focal length parameter.

[0019] Second aspect:

[0020] An embodiment of the present invention provides a UAV trajectory planning system integrating inspection actions, including:

[0021] processor;

[0022] A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method for unmanned aerial vehicle trajectory planning integrating inspection actions as described in the first aspect is implemented.

[0023] The third aspect:

[0024] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method for unmanned aerial vehicle trajectory planning integrating inspection actions as described in the first aspect is implemented.

[0025] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0026] (1) In the present invention, multiple inspection targets are extracted from the inspection contour curve; the minimum flight altitude of each inspection target is calculated by the drone video signal transmission model; the effective inspection distance range and the optional flight altitude range of each inspection target are calculated; the effective inspection distance range and the inspection contour curve are intersected to obtain the hovering position of the drone on each inspection target. It is possible to achieve a balance between algorithm complexity and performance when facing inspection requirements in complex spatial domains and multiple targets; at the same time, it performs well in processing scenes with special flight curves, restricted areas and height requirements, and can meet these special requirements.

[0027] (2) In the present invention, the video quality is improved by calculating the pan-tilt focal length parameters; the flight path of the drone is planned according to the hovering position, inspection flight path, final flight altitude and pan-tilt focal length parameters. The inspection viewing angle and flight path are fully considered, and the inspection video quality is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A flowchart of a method for UAV trajectory planning integrating inspection actions provided by an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the structure of a UAV trajectory planning system integrating inspection actions provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0032] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0033] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same.

[0034] In the embodiments of the present invention, sometimes a subscript such as W1 may be mistakenly written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are consistent.

[0035] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0036] Reference Manual Attached Figure 1 , showing a flow chart of a UAV trajectory planning method integrating inspection actions provided by an embodiment of the present invention.

[0037] The embodiment of the present invention provides a method for UAV trajectory planning integrating patrol actions, which can be implemented by a UAV trajectory planning device integrating patrol actions, and the UAV trajectory planning device integrating patrol actions can be a terminal or a server. The processing flow of the method for UAV trajectory planning integrating patrol actions can include the following steps:

[0038] S1: Obtain GIS information in the highway scenario.

[0039] Among them, GIS (Geographic Information System) information is a technology and method for collecting, managing, analyzing and displaying geographic spatial data. The main function of GIS information is to combine geographic data and spatial analysis to help users make decisions and solve problems.

[0040] In the present invention, GIS information provides detailed geographic data and spatial analysis results of the highway, helping decision makers make more accurate decisions on inspection routes and target selection.

[0041] S2: Determine the inspection contour curve based on GIS information.

[0042] In a possible implementation, S2 specifically includes:

[0043] S201: Divide the highway scene into multiple subspaces according to GIS information.

[0044] In the present invention, dividing the highway scene into multiple subspaces can ensure that each area is taken into consideration without missing any key parts.

[0045] S202: Obtain the midpoint of each curve segment in the subspace.

[0046] In the present invention, obtaining the midpoint of the curve segment helps to accurately calibrate the center position of each segment, laying a foundation for the subsequent calculation of the boundary points.

[0047] S203: Calculate the boundary point farthest from the midpoint of each curve segment.

[0048] In the present invention, by calculating the farthest boundary point, it is possible to ensure that the inspection path covers the farthest position of each curve segment, thereby providing complete inspection coverage.

[0049] S204: Connect the farthest boundary points in series to form an inspection profile curve.

[0050] In the present invention, these farthest boundary points are connected in series to form an inspection contour curve, which can optimize the inspection route and ensure that all key areas are inspected to avoid omissions.

[0051] In summary, determining the inspection contour curve through GIS information not only improves the comprehensiveness, efficiency and accuracy of the inspection, but also provides strong support for subsequent data analysis and decision-making.

[0052] S3: extracting multiple targets to be inspected from the inspection profile curve.

[0053] In the present invention, extracting the target to be inspected from the inspection profile curve can improve the accuracy, efficiency and resource utilization of the inspection.

[0054] S4: Calculate the minimum flight altitude of each inspection target by the drone through the drone video signal transmission model.

[0055] Among them, the UAV video signal transmission model is the key technology for transmitting video data in the UAV system. The model includes multiple aspects, from video acquisition, encoding to transmission and decoding, to ensure the real-time and stability of the video signal.

[0056] In the present invention, calculating the minimum flight altitude can ensure that the drone maintains sufficient clarity and resolution during the shooting process, and ensure that the quality of the captured image or video meets the needs of analysis and monitoring. At the same time, by calculating the minimum flight altitude, it can be ensured that the drone inspects the target at an appropriate altitude, thereby more accurately locating and inspecting the target area.

[0057] S5: Calculate the effective inspection distance range and the optional flight altitude range of each target to be inspected.

[0058] In a possible implementation, S5 specifically includes:

[0059] S501: Adjust the focus of the gimbal.

[0060] S502: Calculate the effective inspection distance range of each target to be inspected.

[0061] It should be noted that in order to overcome the possible errors in the inspection target geographic information and GPS navigation positioning, the tolerable error size of the solution selected by this patent is ε. Assuming that the drone can achieve a parallel state with each inspection target by adjusting its own spatial position and the pitch angle of the gimbal, the following formula needs to be satisfied to ensure that the inspection target appears as a whole within the drone camera frame.

[0062] In a possible implementation manner, the calculation formula for the effective inspection distance range of each target to be inspected is:

[0063]

[0064]

[0065] Among them, ε represents the allowable error range, V represents the width of the inspection field of view, and x i represents the equivalent length of the i-th inspection target, L i Effective inspection distance range, L v Indicates the length of the gimbal camera sensor, L u represents the width of the gimbal camera sensor, f represents the focal length of the gimbal, and f∈[f min ,f max ].

[0066] In the present invention, by calculating the effective inspection distance range of each target, it is possible to ensure that the drone can capture the target within a suitable distance, avoid the target image being too large or too small, and ensure image quality and details. At the same time, it is ensured that the inspection target appears completely within the drone camera frame, reducing insufficient coverage or loss of details caused by improper distance.

[0067] S503: Determine the optional flight height range of each target to be inspected in combination with the effective inspection distance range and the angle between the inspection target and the ground surface.

[0068] In a possible implementation manner, the optional flight altitude range of each target to be inspected is specifically:

[0069]

[0070] in, represents the optional flight altitude range of the i-th inspection target, H i min Indicates the minimum value of the optional flight altitude range, H i max Indicates the maximum value of the optional flight altitude range.

[0071] In the present invention, determining the optional flight height range of each target to be inspected helps to select a suitable flight height under different conditions, ensuring that the inspection target is within the camera frame and meeting the requirements of image acquisition. At the same time, by calculating the optional flight height range, image blind spots caused by inappropriate flight height can be avoided, thereby improving the comprehensiveness of the inspection.

[0072] In summary, calculating the effective inspection distance range and optional flight altitude range of each inspection target can ensure that the UAV obtains high-quality image data during the inspection process. At the same time, measures such as adjusting the pan / tilt focal length and flight altitude can effectively compensate for positioning errors and ensure inspection quality.

[0073] S6: Calculate the intersection of the effective inspection distance range and the inspection profile curve to obtain the hovering position of the UAV on each target to be inspected.

[0074] In a possible implementation, S6 specifically includes:

[0075] S601: Determine the horizontal distance between the UAV and each target to be inspected based on the effective inspection distance range and the angle between the target to be inspected and the ground surface:

[0076]

[0077] in, Indicates the horizontal distance between the drone and the target to be inspected. Indicates the minimum horizontal spacing value of the i-th target to be inspected, Indicates the maximum horizontal spacing value of the i-th target to be inspected.

[0078] S602: Calculate the intersection point between the horizontal distance value between the UAV and each target to be inspected and the inspection profile curve.

[0079] In the present invention, by calculating the hovering position in combination with the effective inspection distance range and the inspection profile curve, it is possible to ensure that the drone accurately covers each target to be inspected. This ensures that all important areas are within the monitoring range of the drone, improving the comprehensiveness and accuracy of the inspection. At the same time, a reasonable hovering position can better capture target details, improve image quality, and facilitate subsequent analysis and processing.

[0080] S603: The intersection point is used as the hovering position of the UAV on each inspection target.

[0081] In summary, by calculating the intersection of the effective inspection distance range and the inspection profile curve to determine the hovering position of the drone, it helps to ensure accurate coverage of the target, optimize the flight path, improve inspection accuracy and data quality, and at the same time enhance operational safety and resource utilization efficiency.

[0082] S7: Determine the inspection track according to each hovering position.

[0083] In the present invention, the inspection track is determined according to each hovering position, which can optimize the flight path, ensure full coverage, improve inspection accuracy and data collection efficiency, enhance operational safety and resource utilization, and support subsequent data analysis and task management.

[0084] S8: Using the optional flight altitude range and the minimum flight altitude as constraints, calculate the final flight altitude of the UAV over each target to be inspected.

[0085] In a possible implementation, the calculation of the final flight altitude of the drone over each target to be inspected in S8 is specifically:

[0086]

[0087] Among them, h i Indicates the final flight altitude of the drone over each inspection target. Indicates the minimum value in the optional flight altitude range. Indicates the maximum value within the optional flight altitude range, h UAV represents the initial flight altitude, Indicates the minimum flight altitude for inspecting the i-th inspection target.

[0088] It should be noted that in order to ensure that the UAV does not waste energy due to frequent adjustments of its flight altitude during the inspection process, this patent sets the flight altitude of the UAV during the inspection process.

[0089] In a possible implementation, the initial flight altitude is specifically:

[0090]

[0091] Wherein, N represents the total number of targets to be inspected.

[0092] In the present invention, it is ensured that the drone can maintain an appropriate height over each target to be inspected, fully cover the target area, and improve the comprehensiveness of the inspection. At the same time, by setting the initial flight height and calculating the final height, the number of times the drone frequently adjusts its flight height during the inspection process can be reduced, thereby reducing energy consumption.

[0093] S9: Calculate the gimbal focal length parameters of each target to be inspected by the drone.

[0094] In a possible implementation, S9 specifically includes:

[0095] According to the following formula, calculate the pan / tilt focal length parameters of each target to be inspected:

[0096]

[0097] Among them, u i represents the length of the i-th target to be inspected, v i represents the width of the i-th object to be inspected, β represents the ratio of the object to be inspected to the frame of the PTZ camera, 0<β<1, L i Effective inspection distance range, L v Indicates the length of the gimbal camera sensor, L u Indicates the width of the gimbal camera sensor, f i Indicates the pan / tilt focal length parameter value of the i-th object to be inspected.

[0098] In the present invention, the pan / tilt focal length is calculated according to the actual size of the target and the parameters of the camera sensor, which can ensure that a clear and detailed image is obtained during the inspection process. At the same time, by calculating the focal length, the target size within the camera frame can be made consistent with the actual target, thereby obtaining the most suitable image size and viewing angle.

[0099] Furthermore, by calculating the pan / tilt focal length parameters of each target to be inspected, the image clarity and quality can be ensured, image acquisition and data analysis can be optimized, and the accuracy and effectiveness of the inspection process can be enhanced.

[0100] S10: Plan the flight path of the drone based on the hovering position, inspection track, final flight altitude, and gimbal focal length parameters.

[0101] In the present invention, by comprehensively considering the hovering position, track, flight altitude and focal length parameters, the most effective flight path can be designed, thereby reducing unnecessary flight time and improving inspection efficiency. At the same time, by planning a suitable track, the flight stability of the drone can be ensured, and the flight instability caused by unreasonable track design can be reduced.

[0102] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0103] (1) In the present invention, multiple inspection targets are extracted from the inspection contour curve; the minimum flight altitude of each inspection target is calculated by the drone video signal transmission model; the effective inspection distance range and the optional flight altitude range of each inspection target are calculated; the effective inspection distance range and the inspection contour curve are intersected to obtain the hovering position of the drone on each inspection target. It is possible to achieve a balance between algorithm complexity and performance when facing inspection requirements in complex spatial domains and multiple targets; at the same time, it performs well in processing scenes with special flight curves, restricted areas and height requirements, and can meet these special requirements.

[0104] (2) In the present invention, the video quality is improved by calculating the pan-tilt focal length parameters; the flight path of the drone is planned according to the hovering position, inspection flight path, final flight altitude and pan-tilt focal length parameters. The inspection viewing angle and flight path are fully considered, and the inspection video quality is improved.

[0105] Reference Manual Attached Figure 2 , showing a structural schematic diagram of a UAV trajectory planning system integrating inspection actions provided by the present invention.

[0106] The present invention also provides a UAV trajectory planning system 20 integrating patrol actions, which is applied to the above-mentioned UAV trajectory planning method integrating patrol actions, including:

[0107] Processor 201;

[0108] The memory 202 stores computer-readable instructions, and when the computer-readable instructions are executed by the processor 201, the UAV trajectory planning method integrating inspection actions as described in the method embodiment is implemented.

[0109] The UAV trajectory planning system 20 integrated with patrol actions provided by the present invention can execute the above-mentioned UAV trajectory planning method integrated with patrol actions and achieve the same or similar technical effects. To avoid repetition, the present invention will not go into details.

[0110] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0111] (1) In the present invention, multiple inspection targets are extracted from the inspection contour curve; the minimum flight altitude of each inspection target is calculated by the drone video signal transmission model; the effective inspection distance range and the optional flight altitude range of each inspection target are calculated; the effective inspection distance range and the inspection contour curve are intersected to obtain the hovering position of the drone on each inspection target. It is possible to achieve a balance between algorithm complexity and performance when facing inspection requirements in complex spatial domains and multiple targets; at the same time, it performs well in processing scenes with special flight curves, restricted areas and height requirements, and can meet these special requirements.

[0112] (2) In the present invention, the video quality is improved by calculating the pan-tilt focal length parameters; the flight path of the drone is planned according to the hovering position, inspection track, final flight altitude and pan-tilt focal length parameters. The inspection viewing angle and flight path are fully considered, and the inspection video quality is improved.

[0113] It should be understood that the processor in the embodiment of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0114] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0115] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0116] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0117] In the present invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0118] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0119] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0121] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0122] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0123] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0124] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0125] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the method for unmanned aerial vehicle trajectory planning integrating inspection actions as described in the method embodiment is implemented.

[0126] A computer-readable storage medium provided by the present invention can implement the steps and effects of the drone trajectory planning method integrating inspection actions in the above-mentioned method embodiment. To avoid repetition, the present invention will not go into details.

[0127] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0128] (1) In the present invention, multiple inspection targets are extracted from the inspection contour curve; the minimum flight altitude of each inspection target is calculated by the drone video signal transmission model; the effective inspection distance range and the optional flight altitude range of each inspection target are calculated; the effective inspection distance range and the inspection contour curve are intersected to obtain the hovering position of the drone on each inspection target. It is possible to achieve a balance between algorithm complexity and performance when facing inspection requirements in complex spatial domains and multiple targets; at the same time, it performs well in processing scenes with special flight curves, restricted areas and height requirements, and can meet these special requirements.

[0129] (2) In the present invention, the video quality is improved by calculating the pan-tilt focal length parameters; the flight path of the drone is planned according to the hovering position, inspection flight path, final flight altitude and pan-tilt focal length parameters. The inspection viewing angle and flight path are fully considered, and the inspection video quality is improved.

[0130] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0131] There are a few points to note:

[0132] (1) The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention, and other structures may refer to the general design.

[0133] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layers or regions is exaggerated or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be intermediate elements.

[0134] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0135] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A UAV trajectory planning method integrating inspection actions, characterized in that: include: S1: Obtain GIS information in the highway scenario; S2: Determine the inspection profile curve according to the GIS information; S3: extracting a plurality of objects to be inspected from the inspection profile curve; S4: Calculate the minimum flight altitude of each of the targets to be inspected by the drone through the drone video signal transmission model; S5: Calculating the effective inspection distance range and the optional flight altitude range of each of the objects to be inspected; S6: performing intersection calculation on the effective inspection distance range and the inspection profile curve to obtain the hovering position of the UAV on each of the objects to be inspected; S7: Determine an inspection track according to each of the hovering positions; S8: Calculating the final flight altitude of the UAV over each of the objects to be inspected using the optional flight altitude range and the minimum flight altitude as constraints; S9: Calculating the pan / tilt focal length parameters of each of the targets to be inspected by the drone; S10: Planning the track of the UAV according to the hovering position, the inspection track, the final flight altitude and the gimbal focal length parameter.

2. The method for UAV trajectory planning integrating inspection actions according to claim 1 is characterized in that: The S2 specifically includes: S201: Divide the highway scene into multiple subspaces according to the GIS information; S202: Obtaining the midpoints of each curve segment in the subspace; S203: Calculate the farthest boundary point from the midpoint of each curve segment; S204: Connect the farthest boundary points in series to form the inspection profile curve.

3. The method for UAV trajectory planning integrating inspection actions according to claim 1 is characterized in that: The S5 specifically includes: S501: adjust the pan / tilt focus; S502: Calculate the effective inspection distance range of each of the objects to be inspected; S503: Determine the optional flight height range of each of the objects to be inspected in combination with the effective inspection distance range and the angle between the inspection object and the ground surface.

4. The method for UAV trajectory planning integrating inspection actions according to claim 3 is characterized in that: The calculation formula for the effective inspection distance range of each of the targets to be inspected is: Among them, ε represents the allowable error range, V represents the width of the inspection field of view, xi represents the equivalent length of the i-th inspection target, Li represents the effective inspection distance range, Lv represents the length of the gimbal camera sensor, Lu represents the width of the gimbal camera sensor, f represents the gimbal focal length, and f∈[f min ,f max ].

5. The method for UAV trajectory planning integrating inspection actions according to claim 3 is characterized in that: The optional flight altitude range of each of the targets to be inspected is specifically as follows: in, represents the optional flight altitude range of the i-th inspection target, H i min Indicates the minimum value of the optional flight altitude range, H i max Indicates the maximum value of the optional flight altitude range.

6. The method for UAV trajectory planning integrating inspection actions according to claim 1 is characterized in that: The S6 specifically includes: S601: Determine the horizontal spacing between the drone and each target to be inspected based on the effective inspection distance range and the angle between the target to be inspected and the ground surface: in, Indicates the horizontal distance between the drone and the target to be inspected. Indicates the minimum horizontal spacing value of the i-th target to be inspected, Indicates the maximum horizontal spacing value of the i-th target to be inspected; S602: Calculate the intersection point between the horizontal distance value between the UAV and each target to be inspected and the inspection profile curve; S603: Using the intersection point as the hovering position of the UAV on each inspection target.

7. The method for UAV trajectory planning integrating inspection actions according to claim 1 is characterized in that: The calculation of the final flight height of the UAV over each target to be inspected in S8 is specifically as follows: Among them, h i Indicates the final flight altitude of the drone over each inspection target. Indicates the minimum value in the optional flight altitude range. Indicates the maximum value within the optional flight altitude range, h UAV represents the initial flight altitude, Indicates the minimum flight altitude for inspecting the i-th inspection target.

8. The method for UAV trajectory planning integrating inspection actions according to claim 7 is characterized in that: The initial flight altitude is specifically: Wherein, N represents the total number of targets to be inspected.

9. The method for UAV trajectory planning integrating inspection actions according to claim 1 is characterized in that: The S9 specifically includes: According to the following formula, calculate the pan / tilt focal length parameters of each of the targets to be inspected: Among them, u i represents the length of the i-th target to be inspected, v i represents the width of the i-th object to be inspected, β represents the ratio of the object to be inspected to the frame of the PTZ camera, 0<β<1, L i Effective inspection distance range, L v Indicates the length of the gimbal camera sensor, L u Indicates the width of the gimbal camera sensor, f i Indicates the pan / tilt focal length parameter value of the i-th object to be inspected.

10. A drone trajectory planning system integrating inspection actions, characterized in that: include: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, a method for unmanned aerial vehicle trajectory planning integrating inspection actions as described in any one of claims 1 to 9 is implemented.

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