Power inspection path determination method and device, unmanned aerial vehicle and storage medium

Abstract

The invention discloses a power inspection path determination method and device, an unmanned aerial vehicle and a storage medium. The method comprises the steps of performing three-dimensional modeling on a current flight area based on real-time flight data of an unmanned aerial vehicle, and determining a real-time distance between the unmanned aerial vehicle and an obstacle; determining a target distance threshold value through an interval range formed by a first threshold value and a second threshold value, and controlling the flight height of the unmanned aerial vehicle based on the real-time distance and the target distance threshold value; wherein the first threshold value is determined based on the displacement required by the unmanned aerial vehicle to decelerate to zero, and the second threshold value is determined based on the detection distance of a single-line laser radar carried by the unmanned aerial vehicle; and according to a result of the three-dimensional modeling, selecting a target flight sector from a plurality of flight sectors through which the unmanned aerial vehicle can pass, and determining the flight direction of the unmanned aerial vehicle based on the target flight sector. According to the scheme, the optimal flight path of the unmanned aerial vehicle during power inspection can be planned in real time, and the inspection flight precision and safety are improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of electric power inspection, and in particular to a method, device, drone and storage medium for determining an electric power inspection path. Background Art

[0002] At present, high-voltage transmission lines have become the backbone of the power grid. Through high-voltage transmission lines, the power transmission capacity can be enhanced and the backwardness of power grid construction can be improved. Since the transmission lines are exposed in the wild for a long time, they may pass through various complex terrains and vegetation. Within a certain distance of the diameter of the transmission line, if there are objects in direct contact with the ground, safety accidents such as leakage discharge may occur. Therefore, it is necessary to inspect the transmission lines.

[0003] In the prior art, power inspections are usually performed by drones along a predetermined planned path. When the drone is flying along the predetermined planned path, the distance between the drone and the obstacle may be too large, which may cause detour detection or ignore the inspectable path; or the distance between the drone and the obstacle may be too small, which may cause collision damage or even crash risk. Summary of the invention

[0004] The present invention provides a method and device for determining a power inspection path, a drone and a storage medium, which can plan the optimal flight path of the drone during power inspection in real time, avoid problems such as detour detection or ignoring the inspectable path, and prevent collision damage and crashes, thereby comprehensively improving the accuracy and safety of the drone's power inspection flight.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining a power inspection path, comprising:

[0006] Performing three-dimensional modeling of the current flight area based on the real-time flight data of the UAV to determine the real-time distance between the UAV and obstacles;

[0007] The target distance threshold is determined by the interval range formed by the first threshold and the second threshold, and the flight altitude of the UAV is controlled based on the real-time distance and the target distance threshold; wherein the first threshold is determined based on the displacement required for the UAV to decelerate to zero, and the second threshold is determined based on the detection distance of the single-line laser radar carried by the UAV;

[0008] According to the result of the three-dimensional modeling, a target flight sector is selected from a plurality of flight sectors through which the UAV can pass, and a flight direction of the UAV is determined based on the target flight sector.

[0009] In a second aspect, an embodiment of the present invention provides a device for determining a power inspection path, comprising:

[0010] A real-time distance determination module is used to perform three-dimensional modeling of the current flight area based on the real-time flight data of the UAV and determine the real-time distance between the UAV and the obstacle;

[0011] A flight altitude determination module, configured to determine a target distance threshold value through an interval range formed by a first threshold value and a second threshold value, and control the flight altitude of the UAV based on the real-time distance and the target distance threshold value; wherein the first threshold value is determined based on the displacement required for the UAV to decelerate to zero, and the second threshold value is determined based on the detection distance of a single-line laser radar carried by the UAV;

[0012] A flight direction determination module is used to select a target flight sector from a plurality of flight sectors through which the UAV can pass according to the result of the three-dimensional modeling, and determine the flight direction of the UAV based on the target flight sector.

[0013] In a third aspect, an embodiment of the present invention provides a drone, including:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method according to the first aspect.

[0017] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0018] The embodiment of the present invention provides a method, device, drone and storage medium for determining a power inspection path, the method comprising: performing three-dimensional modeling on the current flight area based on the real-time flight data of the drone, determining the real-time distance between the drone and the obstacle; determining the target distance threshold through the interval range formed by the first threshold and the second threshold, and controlling the flight height of the drone based on the real-time distance and the target distance threshold; wherein the first threshold is determined based on the displacement required for the drone to decelerate to zero, and the second threshold is determined based on the detection distance of the single-line laser radar carried by the drone; according to the result of the three-dimensional modeling, selecting the target flight sector from the multiple flight sectors that the drone can pass through, and determining the flight direction of the drone based on the target flight sector. The above technical scheme can plan the optimal flight path of the drone during power inspection in real time, including the control of the flight height and flight direction of the drone, thereby shortening the flight distance and flight time, avoiding the problem of detour detection or ignoring the inspectable path, and preventing collision damage and crash, and comprehensively improving the accuracy and safety of the drone power inspection flight.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 is a flow chart of a method for determining a power inspection path provided according to Embodiment 1 of the present invention;

[0022] Figure 2 is a structural schematic diagram of a power inspection path determination device provided according to Embodiment 2 of the present invention;

[0023] Figure 3 Schematic diagram of the structure of a drone implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Embodiment 1

[0027] Figure 1 This is a flow chart of a method for determining a power inspection path provided according to Embodiment 1 of the present invention. This embodiment can be applied to the situation of determining the power inspection path of a UAV in real time. The method can be executed by a power inspection path determination device, which can be implemented in the form of software and / or hardware and integrated in the UAV.

[0028] like Figure 1 As shown, the method includes:

[0029] S110: Perform three-dimensional modeling of the current flight area based on the real-time flight data of the UAV to determine the real-time distance between the UAV and obstacles.

[0030] Among them, real-time flight data can be data collected in real time by the UAV during the power inspection flight, which can include the position and motion status of the UAV itself, and can also include data detected by the single-line laser radar carried by the UAV, which is not limited here.

[0031] In one embodiment, the step of determining the real-time flight data includes:

[0032] emitting a laser beam toward a target object by means of a laser transmitter of the drone;

[0033] Receiving the light signal reflected by the target object through the laser receiver of the drone;

[0034] Determining real-time flight data of the UAV based on the light signal reflected by the target object;

[0035] Wherein, the laser transmitter and the laser receiver together constitute the single-line laser radar.

[0036] In the embodiment of the present invention, the single-line laser radar carried by the drone may be composed of a laser transmitter and a laser receiver, wherein the laser transmitter is used to transmit a laser beam to the target object, and the laser receiver is used to receive the light signal reflected by the target object, and the light signal may carry information such as the position and material of the target object. The target object may be an entity within the detection range of the single-line laser radar, such as but not limited to the ground, obstacles (such as trees, buildings, etc.), other drones, or any entity that enters the detection range.

[0037] When receiving the light signal reflected by the target object, the received light signal is analyzed and converted to determine the position, material and other information of the detected target object. The real-time position and motion status of the drone itself can also be determined based on the relative position of the drone and the target object, that is, the real-time flight data of the drone can be determined.

[0038] In the case of determining the real-time flight data of the UAV, that is, determining the point cloud data generated by the single-line laser radar, the point cloud data accumulates a large amount of geometric information about the environment of the current flight area, which is used to reflect the shape and texture of the environment; processing the point cloud data, such as filtering and other optimization processing, and then converting it into usable three-dimensional data; performing three-dimensional modeling based on the three-dimensional data to build a three-dimensional model of the current flight area; identifying obstacles in the three-dimensional model, and using the position information in the point cloud data to calculate the real-time distance between the UAV and the obstacle. Among them, the current flight area can be the area where the UAV is currently flying, which is not limited here.

[0039] Optionally, in an embodiment of the present invention, when the real-time flight data of the UAV is determined, the real-time flight data can be transmitted to a ground receiver corresponding to the UAV through the UAV, and then the ground receiver transmits the real-time flight data to a ground control terminal.

[0040] Optionally, the above-mentioned ground control terminal can also plan a predetermined flight path based on the location information of the towers that need to be inspected for power. When the UAV performs power inspection, it first flies based on the predetermined flight path. During the flight, the flight path is updated in real time through the method of the embodiment of the present invention.

[0041] S120. Determine a target distance threshold through an interval range formed by a first threshold and a second threshold, and control the flight altitude of the UAV based on the real-time distance and the target distance threshold; wherein the first threshold is determined based on the displacement required for the UAV to decelerate to zero, and the second threshold is determined based on the detection distance of a single-line laser radar carried by the UAV.

[0042] In one embodiment, the first threshold is the product of a target sum value and a safety factor, wherein the target sum value is the sum of the displacement required for the drone to decelerate to zero and the distance from the single-line laser radar to the edge of the drone; the second threshold is less than the detection distance of the single-line laser radar.

[0043] The first threshold d min It can be determined by the following expression:

[0044] d min =λ(D+R T ), D = -v 2 / (2a)

[0045] Where λ is the safety factor; D+R T is the target sum value; D is the displacement required for the drone to decelerate to zero, v is the current flight speed of the drone, and a is the uniform deceleration acceleration of the drone; R T is the distance from the single-line laser radar to the edge of the drone.

[0046] The second threshold d max A value slightly smaller than the detection distance of the single-line laser radar may be selected, such as the second threshold value is smaller than the detection distance of the single-line laser radar and the portion smaller than the detection distance does not exceed the set threshold value, and the set threshold value is not limited. The detection distance of the single-line laser radar may be the maximum detectable distance of the single-line laser radar.

[0047] In this step, the interval range [d min ,d max ] Determine the target distance threshold, which can be evaluated based on [d min ,d max ], the minimum cost for the drone to reach the target point when the flight altitude of the drone is controlled by different thresholds within the range, and the threshold corresponding to the minimum cost is determined as the target distance threshold. The target distance threshold can be a value selected from the interval formed by the first threshold and the second threshold for controlling the flight altitude of the drone. The target point can be the point that the drone needs to reach at the next moment, which is not limited here.

[0048] In one embodiment, determining the target distance threshold by using the interval range formed by the first threshold and the second threshold includes:

[0049] Within the range formed by the first threshold and the second threshold, a plurality of candidate thresholds are determined at a set step size;

[0050] For each candidate threshold, a cost function value is obtained by evaluating with a cost function;

[0051] The candidate threshold corresponding to the minimum value among the cost function values is determined as the target distance threshold.

[0052] Within the range of [d min , d max , a plurality of candidate thresholds are determined at a set step size; for each candidate threshold, the cost function value corresponding to the optional direction is determined; the candidate threshold corresponding to the minimum value among the cost function values is determined as the target distance threshold. Among them, the set step size is not limited. The optional direction corresponding to the candidate threshold, that is, when controlling the flight altitude of the drone based on this candidate threshold, the optional directions for the drone to reach the target point.

[0053] In one embodiment, for each candidate threshold, obtaining a cost function value by evaluating with a cost function includes:

[0054] For each candidate threshold, determine the first angle between the optional direction corresponding to the candidate threshold and the target point, the second angle between the optional direction and the current direction, and the third angle between the optional direction and the previous direction;

[0055] The sum value of the first angle, the second angle, and the third angle is determined as the cost function value corresponding to the candidate threshold.

[0056] The cost function value corresponding to the candidate threshold can be determined by the following formula:

[0057] g(c)=μ1Δ(c,k t )+μ2Δ(c,k r )+μ3Δ(c,k bt )

[0058] Wherein, g(c) is the cost function value corresponding to the candidate threshold; μ1Δ(c,k t ) is the first angle between the optional direction corresponding to the candidate threshold and the target point; μ2Δ(c,k r ) is the second angle between the optional direction and the current direction; μ3Δ(c,k bt ) is the third angle between the optional direction and the previous direction. t + r < bt and both are constants. The current direction can be the direction in which the drone is currently moving; the previous direction can be the direction in which the drone moved last time.

[0059] In this step, when the target distance threshold is determined, the flight altitude of the UAV can be controlled based on the real-time distance and the target distance threshold. Specifically, when the real-time distance between the UAV and the obstacle is less than the target distance threshold, the UAV can be controlled to rise to a certain flight altitude; when the real-time distance between the UAV and the obstacle is greater than the target distance threshold, the current flight altitude of the UAV can be maintained or the UAV can be controlled to appropriately lower the flight altitude. The advantage of such a setting is that the flight altitude of the UAV can be dynamically adjusted according to the real-time distance between the UAV and the obstacle, ensuring that the UAV can avoid obstacles and get as close to the object of inspection as possible during the power inspection, thereby ensuring the safety and efficiency of the power inspection.

[0060] S130. According to the result of the three-dimensional modeling, a target flight sector is selected from a plurality of flight sectors through which the UAV can pass, and a flight direction of the UAV is determined based on the target flight sector.

[0061] In this step, based on the results of three-dimensional modeling, multiple flight sectors through which the drone can reach the target point can be preliminarily selected in the three-dimensional model; from the multiple flight sectors, a target flight sector can be selected based on the distance the drone passes through each flight sector to reach the target point. The target flight sector can be a flight sector selected from the multiple flight sectors through which the drone can pass for determining the flight direction of the drone; the flight direction of the drone is determined based on the angle between the starting direction and the ending direction of the target flight sector.

[0062] In one embodiment, according to the result of the three-dimensional modeling, selecting a target flight sector from a plurality of flight sectors through which the drone can pass includes:

[0063] According to the result of the three-dimensional modeling, a plurality of free sectors where the drone can reach the target point are determined as flight sectors through which the drone can pass;

[0064] The flight sector closest to the target point among the flight sectors is determined as the target flight sector.

[0065] In the embodiment of the present invention, a rectangular coordinate system can be established with the center of the single-line laser radar. In order to enable the drone to avoid obstacles safely, it is necessary to perform coordinate conversion between the global rectangular coordinate system and the polar coordinate system. The specific coordinate system conversion rules are as follows:

[0066] β = α-90, α is the angle of the UAV's travel direction in the rectangular coordinate system, and β is the coordinate transformation angle in the polar coordinate system corresponding to the rectangular coordinate system;

[0067] Φ=O-β. This formula represents the conversion relationship between the heading angle of the polar coordinate system and the heading angle of the rectangular coordinate system. When the heading angle of the obstacle is O, it can be concluded that the corresponding heading angle in the rectangular coordinate system is Φ.

[0068] According to the results of 3D modeling, multiple free sectors where the UAV can reach the target point are determined, that is, multiple flight sectors where the UAV can pass are determined, as follows:

[0069] Defined in polar coordinates, if the distance d in the angle direction of θ is less than or equal to d s , and d d If d is smaller than the width of the drone, the area is called a peak sector, otherwise it is a valley sector. s It may be a preset threshold distance, used to define the boundary between the peak sector and the valley sector; To include d s and greater than d s The angle value of the area. According to the above definition, the peak sector and the valley sector are determined, and the free sector where the drone can reach the target point is further determined. The free sector is the area between the peak sector and the valley sector.

[0070] Among the multiple free sectors that the drone can reach the target point, the flight sector closest to the target point is determined as the target flight sector, as follows:

[0071] In the rectangular coordinate system, the angle α between the target point and the drone can be calculated by the following formula:

[0072]

[0073] Among them, (x g ,y g ) and (x r ,y r ) is the distance from the target point in the rectangular coordinate system.

[0074] Assume that there are three obstacles in front of the UAV, and the target point can be reached through four directions: θ1 sector, θ2 sector, θ3 sector, and θ4 sector. By comparison, it can be seen that there are two directions close to the target point, namely θ2 sector and θ3 sector. According to the definition of free sector selection, θ2 sector and θ3 sector are both free sectors and can be used as the flight direction of the UAV. Then, the angles β1 and β2 between the θ2 sector and the θ3 sector and the target point direction are calculated respectively. By comparing the free sector with the closest distance to the target point, the final direction is taken. The distance from the θ3 sector to the target point is closer than the distance from the θ2 sector to the target point. Therefore, the θ3 sector is taken as the target flight sector.

[0075] In one embodiment, determining the flight direction of the UAV based on the target flight sector includes:

[0076] Determine a first angle of a starting direction and a second angle of a terminating direction of the target flight sector;

[0077] Half of the sum of the first angle and the second angle is determined as the flight direction of the UAV.

[0078] The flight direction ψ of the drone can be determined by the following formula:

[0079]

[0080] Among them, α1 is the angle of the starting direction of the target flight sector, i.e., the first angle; α2 is the angle of the ending direction of the target flight sector, i.e., the second angle; and ψ is the flight direction of the UAV in the polar coordinate system. The flight direction ψ of the UAV is transformed to obtain the corresponding flight direction Ω=ψ-β of the UAV in the rectangular coordinate system.

[0081] The embodiment of the present invention provides a method, device, drone and storage medium for determining a power inspection path, the method comprising: performing three-dimensional modeling on the current flight area based on the real-time flight data of the drone, determining the real-time distance between the drone and the obstacle; determining the target distance threshold through the interval range formed by the first threshold and the second threshold, and controlling the flight height of the drone based on the real-time distance and the target distance threshold; wherein the first threshold is determined based on the displacement required for the drone to decelerate to zero, and the second threshold is determined based on the detection distance of the single-line laser radar carried by the drone; according to the result of the three-dimensional modeling, selecting the target flight sector from the multiple flight sectors that the drone can pass through, and determining the flight direction of the drone based on the target flight sector. The above technical scheme can plan the optimal flight path of the drone during power inspection in real time, including the control of the flight height and flight direction of the drone, thereby shortening the flight distance and flight time, avoiding the problem of detour detection or ignoring the inspectable path, and preventing collision damage and crash, and comprehensively improving the accuracy and safety of the drone power inspection flight.

[0082] Embodiment 2

[0083] Figure 2 1 is a schematic diagram of a structure of a power inspection path determination device provided according to the second embodiment of the present invention. This embodiment is applicable to the case of determining the power inspection path of a drone in real time. Figure 2 As shown, the specific structure of the device includes:

[0084] A real-time distance determination module 21 is used to perform three-dimensional modeling of the current flight area based on the real-time flight data of the UAV, and determine the real-time distance between the UAV and the obstacle;

[0085] A flight altitude determination module 22, configured to determine a target distance threshold value through an interval range formed by a first threshold value and a second threshold value, and control the flight altitude of the UAV based on the real-time distance and the target distance threshold value; wherein the first threshold value is determined based on the displacement required for the UAV to decelerate to zero, and the second threshold value is determined based on the detection distance of a single-line laser radar carried by the UAV;

[0086] The flight direction determination module 23 is used to select a target flight sector from a plurality of flight sectors through which the UAV can pass according to the result of the three-dimensional modeling, and determine the flight direction of the UAV based on the target flight sector.

[0087] The power inspection path determination device provided in this embodiment performs three-dimensional modeling of the current flight area based on the real-time flight data of the drone through the real-time distance determination module to determine the real-time distance between the drone and the obstacle; determines the target distance threshold through the interval range formed by the first threshold and the second threshold through the flight altitude determination module, and controls the flight altitude of the drone based on the real-time distance and the target distance threshold; wherein the first threshold is determined based on the displacement required for the drone to decelerate to zero, and the second threshold is determined based on the detection distance of the single-line laser radar carried by the drone; selects the target flight sector from the multiple flight sectors that the drone can pass through according to the result of the three-dimensional modeling through the flight direction determination module, and determines the flight direction of the drone based on the target flight sector. The above technical scheme can plan the optimal flight path of the drone during power inspection in real time, including the control of the flight altitude and flight direction of the drone, thereby shortening the flight distance and flight time, avoiding the problem of detour detection or ignoring the inspectable path, and preventing collision damage and crash, which comprehensively improves the accuracy and safety of the drone power inspection flight.

[0088] Furthermore, the first threshold is the product of a target sum value and a safety factor, and the target sum value is the sum of a displacement required for the drone to decelerate to zero and a distance from the single-line laser radar to the edge of the drone;

[0089] The second threshold is smaller than the detection distance of the single-line laser radar.

[0090] Furthermore, the flight altitude determination module 22 is specifically used for:

[0091] Determine a plurality of candidate thresholds within an interval formed by the first threshold and the second threshold with a set step size;

[0092] For each candidate threshold, a cost function is used to evaluate and obtain a cost function value;

[0093] The candidate threshold corresponding to the minimum value among the cost function values ​​is determined as the target distance threshold.

[0094] Furthermore, the flight altitude determination module 22 is specifically used for:

[0095] For each candidate threshold, determine a first angle between the optional direction corresponding to the candidate threshold and the target point, a second angle between the optional direction and the current direction, and a third angle between the optional direction and the previous direction;

[0096] The sum of the first angle, the second angle and the third angle is determined as the cost function value corresponding to the candidate threshold.

[0097] Furthermore, the flight direction determination module 23 is specifically used for:

[0098] According to the result of the three-dimensional modeling, a plurality of free sectors where the drone can reach the target point are determined as flight sectors through which the drone can pass;

[0099] The flight sector closest to the target point among the flight sectors is determined as the target flight sector.

[0100] Furthermore, the flight direction determination module 23 is specifically used for:

[0101] Determine a first angle of a starting direction and a second angle of a terminating direction of the target flight sector;

[0102] Half of the sum of the first angle and the second angle is determined as the flight direction of the UAV.

[0103] Furthermore, the step of determining the real-time flight data includes:

[0104] emitting a laser beam toward a target object by means of a laser transmitter of the drone;

[0105] Receiving the light signal reflected by the target object through the laser receiver of the drone;

[0106] Determining real-time flight data of the UAV based on the light signal reflected by the target object;

[0107] Wherein, the laser transmitter and the laser receiver together constitute the single-line laser radar.

[0108] The power inspection path determination device provided in the embodiment of the present invention can execute the power inspection path determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0109] Embodiment 3

[0110] Figure 3 is a schematic diagram of the structure of a drone implementing an embodiment of the present invention. The components, their connections and relationships, and their functions shown herein are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0111] like Figure 3 As shown, the drone 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the drone 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0112] A number of components in the drone 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the drone 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0113] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for determining a power inspection path.

[0114] In some embodiments, the power inspection path determination method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the drone 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the power inspection path determination method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the power inspection path determination method in any other appropriate manner (e.g., by means of firmware).

[0115] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0116] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0117] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0118] To provide interaction with a user, the systems and techniques described herein may be implemented on a drone having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the drone. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0119] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0120] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0121] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0122] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining a power inspection path, characterized in that: include: Performing three-dimensional modeling of the current flight area based on the real-time flight data of the UAV to determine the real-time distance between the UAV and obstacles; The target distance threshold is determined by the interval range formed by the first threshold and the second threshold, and the flight altitude of the UAV is controlled based on the real-time distance and the target distance threshold; wherein the first threshold is determined based on the displacement required for the UAV to decelerate to zero, and the second threshold is determined based on the detection distance of the single-line laser radar carried by the UAV; According to the result of the three-dimensional modeling, a target flight sector is selected from a plurality of flight sectors through which the UAV can pass, and a flight direction of the UAV is determined based on the target flight sector.

2. The method according to claim 1, characterized in that The first threshold is the product of a target sum value and a safety factor, and the target sum value is the sum of the displacement required for the drone to decelerate to zero and the distance from the single-line laser radar to the edge of the drone; The second threshold is smaller than the detection distance of the single-line laser radar.

3. The method according to claim 1, characterized in that Determining the target distance threshold by the interval range formed by the first threshold and the second threshold includes: Determine a plurality of candidate thresholds within an interval formed by the first threshold and the second threshold with a set step size; For each candidate threshold, a cost function is used to evaluate and obtain a cost function value; The candidate threshold corresponding to the minimum value among the cost function values ​​is determined as the target distance threshold.

4. The method according to claim 3, characterized in that For each candidate threshold, a cost function is used to evaluate and obtain a cost function value, including: For each candidate threshold, determine a first angle between the optional direction corresponding to the candidate threshold and the target point, a second angle between the optional direction and the current direction, and a third angle between the optional direction and the previous direction; The sum of the first angle, the second angle and the third angle is determined as the cost function value corresponding to the candidate threshold.

5. The method according to claim 1, characterized in that According to the result of the three-dimensional modeling, a target flight sector is selected from a plurality of flight sectors through which the UAV can pass, including: According to the result of the three-dimensional modeling, a plurality of free sectors where the drone can reach the target point are determined as flight sectors through which the drone can pass; The flight sector closest to the target point among the flight sectors is determined as the target flight sector.

6. The method according to claim 1, characterized in that Determining a flight direction of the UAV based on the target flight sector includes: Determine a first angle of a starting direction and a second angle of a terminating direction of the target flight sector; Half of the sum of the first angle and the second angle is determined as the flight direction of the UAV.

7. The method according to claim 1, characterized in that The step of determining the real-time flight data comprises: emitting a laser beam toward a target object by means of a laser transmitter of the drone; Receiving the light signal reflected by the target object through the laser receiver of the drone; Determining real-time flight data of the UAV based on the light signal reflected by the target object; Wherein, the laser transmitter and the laser receiver together constitute the single-line laser radar.

8. A device for determining a power inspection path, characterized in that: include: A real-time distance determination module is used to perform three-dimensional modeling of the current flight area based on the real-time flight data of the UAV and determine the real-time distance between the UAV and the obstacle; A flight altitude determination module, configured to determine a target distance threshold value through an interval range formed by a first threshold value and a second threshold value, and control the flight altitude of the UAV based on the real-time distance and the target distance threshold value; wherein the first threshold value is determined based on the displacement required for the UAV to decelerate to zero, and the second threshold value is determined based on the detection distance of a single-line laser radar carried by the UAV; A flight direction determination module is used to select a target flight sector from a plurality of flight sectors through which the UAV can pass according to the result of the three-dimensional modeling, and determine the flight direction of the UAV based on the target flight sector.

9. A drone, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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