Air route planning method for intelligent inspection of steel structure condensing tower

Abstract

The invention discloses a route planning method for intelligent inspection of a steel structure condensing tower. The route planning method comprises the following steps: acquiring an information list of condensing towers in an inspection area, inspection data of each layer of each condensing tower and a safety inspection distance Sh; the safe take-off height Sa of the unmanned aerial vehicle is obtained; calculating position information of an inspection waypoint; constructing an inspection route of each layer outside the condensing tower according to the inspection fineness Fs of the condensing tower to obtain an inspection route outside the tower; setting the action of each waypoint in the out-of-tower inspection route; finishing route planning outside the condensing tower; performing in-tower inspection on the condensing tower; finishing route planning in the condensing tower; and the unmanned aerial vehicle ascends to the overlook distance above the highest position of the current condensing tower and prepares to inspect the next condensing tower until the current condensing tower is the last condensing tower, and the unmanned aerial vehicle directly returns after inspection is completed. Through automatic, precise and intelligent means, the detection efficiency, precision and safety are improved, and the detection cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent inspection, and in particular to a route planning method for intelligent inspection of a steel structure condensing tower. Background Art

[0002] Steel condensing towers are widely used in industrial cooling systems, and regular inspection and maintenance are essential for their safe operation. Traditional manual inspections are inefficient, costly, and pose safety risks. UAV technology uses intelligent route planning to enable drones to complete inspection tasks efficiently and accurately.

[0003] The route planning in most existing drone inspection systems relies on the route planning module in the system to plan the drone inspection route by manually marking points on the map around the condensation tower to be inspected.

[0004] However, when inspecting multiple irregular condensing towers, users need to perform manual calculations and multiple operations to complete the route planning. In the manual calculation process, there is a problem of incomplete route planning, resulting in loss of inspection result data and waste of drone resources. Summary of the invention

[0005] In view of the above problems, the present invention is proposed to provide a route planning method for intelligent inspection of steel structure condensing towers that overcomes the above problems or at least partially solves the above problems.

[0006] According to one aspect of the present invention, a route planning method for intelligent inspection of a steel structure condensing tower is provided, the route planning method comprising: Get the information list of the condensing towers in the inspection area, the inspection data of each floor of each condensing tower, and the safe inspection distance ; Get the safe take-off altitude of the drone ; According to the safety inspection distance And the inspection data of each layer of the condensing tower Calculate the location information of inspection waypoints; According to the inspection precision of the condensation tower Construct the inspection route for each layer outside the condensing tower and obtain the inspection route outside the tower; Set the action for each waypoint in the outer tower inspection route; Add waypoints and corresponding waypoint actions according to the weld information that needs to be inspected on each layer outside each condensing tower to complete the route planning outside the condensing tower; The drone is raised to a position above the condensing tower and flies horizontally to above the center point of the condensing tower to inspect the inside of the condensing tower; Add waypoints and corresponding waypoint actions according to the weld information that needs to be inspected on each floor of each condensing tower to complete the route planning inside the condensing tower; The drone is raised to a position above the highest point of the current condensation tower and within a distance from the top to prepare for the inspection of the next condensation tower, until the current condensation tower is the last one, and the drone returns directly after the inspection is completed.

[0007] Optionally, the overlooking distance is 20 meters.

[0008] Optionally, the information list of the condensing towers in the inspection area, the inspection data of each layer of each condensing tower and the safe inspection distance S are obtained. h Specifically include: Get the information list of the condensing tower in the inspection area 、Number of layers of condensation tower , the height of each condensation tower , height of each floor from the ground , the radius of each layer , the angle of each weld ; According to the inspection environment, the automatic obstacle avoidance technology of the drone is used to obtain the safe inspection distance of each floor of each condensing tower. ; Get the radius of the earth corresponding to the coordinate position of the inspection condensing tower ; Get the geographical information of the inspection area and the height limit information of the inspection area .

[0009] Optionally, the safety inspection distance Distance and inspection data of each floor of the condensing tower The location information for calculating the inspection waypoints specifically includes: Safety inspection distance per floor converted to radians = Safety inspection distance of each floor of the condensation tower / Radius of the Earth ; Condensation tower longitude converted to radians =Condensation tower longitude ; Condensation tower latitude converted to radians =Condensation tower latitude ; Calculate the latitude position of the current waypoint Calculate the longitude position of the current waypoint .

[0010] Optionally, the inspection precision of the condensing tower Construct the inspection route for each layer outside the condensing tower, and obtain the inspection route outside the tower, including: Cyclic inspection of the number of layers of the condensation tower , the inspection angle of each floor is 360°; According to the inspection of the condensation tower , obtain the number of waypoints on each layer, obtain the location information of the inspection waypoints, and store the location information in the route of each layer.

[0011] Optionally, the action of setting each waypoint in the outer-tower inspection route specifically includes: From the condensation tower information list Get the location information of the center point of the condensation tower , the location information of the center point of the condensation tower Location as a point of interest; Set the gimbal pitch angle to 0° for all waypoints; The drone flies to the height of the corresponding inspection floor and adjusts the lens to 0° to look at the condensation tower; Set the zoom factor of the lens at the first waypoint on each floor to capture the entire floor of the condensing tower; The first waypoint of each layer is used to set the start of interval photography, and the last waypoint of each layer is used to set the end of photography. The interval photography time is automatically calculated based on the camera parameters and the lateral overlap rate of 30%.

[0012] Optionally, adding waypoints and corresponding waypoint actions according to the weld information of each layer outside each condensing tower that needs to be inspected, and completing the route planning outside the condensing tower specifically includes: List of information through condensation tower Get the weld information that needs to be inspected on each floor of each condensation tower ; Each weld adds 4 waypoints to the route, and the actions to be performed at each waypoint include: The first point is to take a head-on shot of the weld; The second point raises the drone meters, the gimbal pitch angle is adjusted to Filming; The third point will lower the drone meters, the gimbal pitch angle is adjusted to Filming; The fourth point will make the drone rise meters, and the gimbal angle is adjusted to 0°.

[0013] Optionally, the step of raising the drone to a position above the condensing tower and flying it horizontally to above the center point of the condensing tower to inspect the inside of the condensing tower specifically includes: Raise the drone to 20 meters above the highest point of the condensation tower, and fly horizontally to the top of the center point of the condensation tower; Get the number of layers of the inspection condensing tower , height of each floor from the ground ; When the drone is inspecting the tower, adjust the drone's height to the ground height of each floor. , add 1 waypoint per floor, from the information list of the condensation tower Get the location information of the center point of the condensation tower As the location information of the waypoint, the drone rotates 360 degrees at the waypoint and takes a circle of photos. There is a 30% overlap between adjacent photos. The rotation angle of the drone each time and the number of photos required for each layer inspection are calculated; Calculate the rotation angle of the drone: ,in, It is the angle that the drone needs to rotate each time taking a photo. A lateral overlap rate of 30% means that there is a 30% overlap area between adjacent photos and a 70% non-overlap area, which is converted to a decimal of 0.7. is the camera’s field of view angle; Calculate the number of photos taken: , where n is the number of photos taken; 360° means that the drone rotates 360° when inspecting each floor; the lateral overlap rate of 30% means that there is a 30% overlap area between adjacent photos and a 70% non-overlap area, which is converted to a decimal of 0.7, and α is the field of view angle of the camera.

[0014] Optionally, adding waypoints and corresponding waypoint actions according to the weld information that needs to be inspected on each layer in each condensing tower to complete the route planning in the condensing tower specifically includes: According to the information list of the condensation tower Get the weld information that needs to be inspected on each floor of each condensation tower ; Each weld needs to add 3 waypoints to the route. The actions to be performed at each waypoint include: The first point raises the drone meters, the gimbal pitch angle is adjusted to Filming; The second point will lower the drone meters, the gimbal pitch angle is adjusted to Filming; The third point will lift the drone up meters, the gimbal angle is adjusted to 0°; PTZ adjustment angle ; Drone altitude adjustment .

[0015] The present invention provides a route planning method for intelligent inspection of steel structure condensing towers, the route planning method comprising: obtaining an information list of condensing towers in the inspection area, inspection data of each layer of each condensing tower, and safe inspection distance ; Get the safe take-off height of the drone ; According to the safety inspection distance And the inspection data of each layer of the condensing tower Calculate the location information of the inspection waypoints; according to the inspection precision of the condensing tower Construct an inspection route for each layer outside the condensing tower to obtain an inspection route outside the tower; set the action of each waypoint in the inspection route outside the tower; add waypoints and corresponding waypoint actions according to the weld information of each layer outside each condensing tower that needs to be inspected, and complete the route planning outside the condensing tower; raise the drone to a bird's-eye view distance above the outside of the condensing tower, and fly horizontally above the center point of the condensing tower to inspect the inside of the condensing tower; add waypoints and corresponding waypoint actions according to the weld information of each layer inside each condensing tower that needs to be inspected, and complete the route planning inside the condensing tower; raise the drone to a bird's-eye view distance above the highest point of the current condensing tower to prepare for the inspection of the next condensing tower, until the current condensing tower is the last one, and return directly after the inspection is completed. Through automation, precision and intelligence, the detection efficiency, accuracy and safety are significantly improved, and the detection cost is reduced.

[0016] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0018] Figure 1 A flow chart of a route planning method for intelligent inspection of steel structure condensing towers provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0020] The terms "comprises" and "having" and any variations thereof in the description embodiments, claims and drawings of the present invention are intended to cover non-exclusive inclusions, for example, including a series of steps or units.

[0021] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0022] like Figure 1 As shown, a route planning method for intelligent inspection of a steel structure condensing tower, the route planning method comprising: Get the information list of the condensing towers in the inspection area, the inspection data of each floor of each condensing tower, and the safe inspection distance ; Get the safe take-off altitude of the drone ; According to the safety inspection distance And the inspection data of each layer of the condensing tower Calculate the location information of inspection waypoints; According to the inspection precision of the condensation tower Construct the inspection route for each layer outside the condensing tower and obtain the inspection route outside the tower; Set the action for each waypoint in the outer tower inspection route; Add waypoints and corresponding waypoint actions according to the weld information that needs to be inspected on each layer outside each condensing tower to complete the route planning outside the condensing tower; The drone is raised to a position above the condensing tower and flies horizontally to above the center point of the condensing tower to inspect the inside of the condensing tower; Add waypoints and corresponding waypoint actions according to the weld information that needs to be inspected on each floor of each condensing tower to complete the route planning inside the condensing tower; The drone is raised to a position above the highest point of the current condensation tower and within a distance from the top to prepare for the inspection of the next condensation tower, until the current condensation tower is the last one, and the drone returns directly after the inspection is completed.

[0023] The detailed method steps of a route planning method for intelligent inspection of a steel structure condensing tower specifically include: 1. Obtain relevant information about the condensation tower Get the information list of the condensing tower in the inspection area , Inspect the number of layers of the condensation tower , the height of each condensation tower , height of each floor from the ground , the radius of each layer , the angle of each critical weld .

[0024] According to the on-site inspection environment and the automatic obstacle avoidance technology of the drone, the safe inspection distance of each floor of each condensing tower is obtained. , safety inspection distance The distance between the drone and the tower when inspecting each floor.

[0025] Get the radius of the earth corresponding to the coordinate position of the inspection condensing tower .

[0026] Get regional geographic information and call the GIS interface to obtain height limit information of the inspection area .

[0027] 2. Route planning outside the condensing tower Obtain the safe take-off height of the drone based on the on-site environment (After the aircraft takes off, it first climbs to this altitude, flies horizontally to above the first flight point, and then lands below the first flight point) Safety inspection distance .

[0028] Obtain data for each floor of the inspection condensation tower , according to the user's inspection of the condensing tower Requirements, calculate the waypoints for each layer .

[0029] (1) Obtain the location information of the inspection waypoints through calculation based on the relevant information of the condensing tower Safety inspection distance per floor converted to radians = Safety inspection distance of each floor of the condensation tower / Radius of the Earth .

[0030] The current longitude of the condenser is converted to radians =Condensation tower longitude .

[0031] The current latitude of the condenser is converted to radians =Condensation tower latitude .

[0032] Calculate the latitude position of the current waypoint .

[0033] Use the sine function to calculate the sine value of the latitude of the inspection condenser tower ; Use the cosine function to calculate the cosine value of the safety inspection distance for each floor ; Use the cosine function to calculate the cosine value of the latitude of the inspection condenser tower ; Use the sine function to calculate the sine value of the safety inspection distance for each floor ; Use the cosine function combined with the inspection precision F s Calculate the cosine value ; Use the inverse sine function to calculate the radian value of the current waypoint's latitude ; Finally, converting radians into degrees is the latitude information of the current waypoint .

[0034] Calculate the longitude position of the current waypoint :

[0035]

[0036] .

[0037] Use the sine function combined with the inspection precision F s Calculate the sine value .

[0038] Use the sine function to calculate the sine value of the safety inspection distance for each floor .

[0039] Use the cosine function to calculate the cosine value of the latitude of the inspection condenser tower .

[0040] Use the cosine function to calculate the cosine value of the safety inspection distance for each floor .

[0041] Use the sine function to calculate the sine value of the latitude of the inspection condenser tower .

[0042] Use the sine function to calculate the sine of the latitude of the current waypoint .

[0043] calculate The angle between them uses the four-quadrant inverse tangent function ; Convert the arc angle of the longitude point to Convert to Range ;Finally, converting radians into degrees is the longitude information of the current waypoint .

[0044] (2) According to the inspection of the condensation tower Calculate the inspection route for each layer outside the condensing tower.

[0045] Cyclic inspection of the number of layers of the condensation tower The inspection angle of each layer is 360°, according to the precision of the inspection condensing tower , get the number of waypoints on each layer, get the inspection waypoint location information, and store the location information in the route of each layer.

[0046] , Indicates the number of waypoints per layer, To inspect the precision of the condensing tower. mod360 ensures that the final result always cycles between 0 and 360. When the final result is greater than or equal to 360, the result will be automatically constrained to the range of [0,360) through modulo operation to achieve seamless circulation.

[0047] (3) Set the action for each waypoint in the off-tower inspection route After the inspection route of the condensing tower is planned, it is necessary to set the waypoint action for each waypoint separately, including: All waypoints add actions to points of interest, from the condensation tower information list Get the location information of the center point of the condensation tower , the location information of the center point of the condensation tower Location as a point of interest.

[0048] Set the gimbal pitch angle to 0° for all waypoints. Fly the drone to the height of the corresponding inspection floor and adjust the lens to 0° to look straight at the condensation tower.

[0049] The zoom ratio of the lens is set at the first waypoint of each floor. By setting the zoom ratio, the whole floor of the condensing tower can be captured through the live broadcast.

[0050] Zoom factor =

[0051] The first waypoint of each layer is used to set the start of the interval photography action, and the last waypoint of each layer is used to set the end of the photography action. The interval photography time is automatically calculated according to the camera parameters and the lateral overlap rate of 30%. .

[0052] The lateral overlap rate is 30%, and there is a 70% non-overlap area between adjacent photos. is the photo width, GSD is the ground resolution, and u is the route speed.

[0053] (4) Inspection of key welds According to the information list of the condensation tower Get the weld information that needs to be inspected on each floor of each condensation tower Each weld needs to add 4 waypoints to the route, and the actions to be performed at each waypoint include:

[0054] The first point is to take a head-on shot of the weld; the second point is to raise the drone meters, the gimbal pitch angle is adjusted to Shoot; the third point will lower the drone meters, the gimbal pitch angle is adjusted to Shoot; the fourth point will raise the drone meters, and the gimbal angle is adjusted to 0°.

[0055] PTZ adjustment angle ; Drone altitude adjustment .

[0056] 3. Route planning inside the condensing tower After the outer route planning of the condensing tower is completed, the drone will rise to 20 meters above the highest point of the condensing tower (a new waypoint), and fly horizontally to the top of the center point of the condensing tower (a new waypoint).

[0057] Get the number of layers of the inspection condensing tower , height of each floor from the ground When the drone is inspecting the tower, adjust the drone's height to the ground height of each floor. , add 1 waypoint per floor, from the information list of the condensation tower Get the location information of the center point of the condensation tower As the location information of the current waypoint, the drone rotates 360 degrees at the waypoint and takes a circle of photos. There is a 30% overlap area between adjacent photos. The rotation angle of the drone each time and the number of photos required for inspecting each floor are calculated according to the formula.

[0058] Calculate the rotation angle of the drone: ;in, The angle that the drone needs to rotate each time it takes a photo. A lateral overlap rate of 30% means that there is a 30% overlap area between adjacent photos and a 70% non-overlap area, which is converted to a decimal of 0.7. is the field of view (FOV) of the camera.

[0059] Calculate the number of photos taken: , where n is the number of photos taken; 360° means that the drone rotates 360° when inspecting each floor; the lateral overlap rate of 30% means that there is a 30% overlap area between adjacent photos and a 70% non-overlap area, converted to a decimal of 0.7, and α is the field of view (FOV) of the camera.

[0060] The inspection of key welds in the tower specifically includes: The implementation logic of the inspection of welds in the tower is the same as that of the inspection of welds outside the tower, except that the number of waypoints has been reduced. The specific implementation logic includes: According to the information list of the condensing tower Get the weld information that needs to be inspected on each floor of each condensation tower .

[0061] Each weld needs to add 3 waypoints to the route. The actions to be performed at each waypoint include: The first point raises the drone meters, the gimbal pitch angle is adjusted to Shoot; the second point will lower the drone meters, the gimbal pitch angle is adjusted to Shoot; the third point will make the drone rise meters, and the gimbal angle is adjusted to 0°.

[0062] PTZ adjustment angle ; Drone altitude adjustment .

[0063] IV. Route planning for inspection of multiple condensing towers After the inspection of each condensation tower is completed, the drone will rise to 20 meters above the highest point of the condensation tower to prepare for the inspection of the next condensation tower. If the condensation tower currently being inspected is the last tower, it will return directly after the inspection is completed.

[0064] Beneficial effects: Improve inspection efficiency: Through intelligent route planning, the drone can automatically complete the comprehensive inspection of the condensing tower, reduce manual operations, and improve efficiency. Optimize the route design to ensure that the drone can cover every key part of the condensing tower to avoid omissions.

[0065] Improve detection accuracy: Use high-precision sensors and positioning technology to ensure that drones can fly accurately in complex environments and improve the accuracy of detection data.

[0066] Reduced testing costs: Automated inspection reduces reliance on professional inspectors and reduces labor costs. Through regular and accurate inspections, problems can be discovered and dealt with in a timely manner, extending the service life of the condensing tower and reducing maintenance costs.

[0067] Enhanced safety: Drones replace manual inspections at high altitudes and in dangerous environments, reducing safety risks for personnel. Intelligent route planning combined with obstacle avoidance technology ensures safe flight of drones in complex environments and avoids collision accidents.

[0068] Realize data-based management: Through intelligent route planning, the system can efficiently collect a large amount of detection data for subsequent analysis and processing.

[0069] Adapt to complex environments: Intelligent route planning can automatically adjust the flight path according to the environmental characteristics around the condensation tower to adapt to different detection needs.

[0070] Intelligent route planning for steel structure condensing towers significantly improves detection efficiency, accuracy and safety, reduces detection costs, and promotes the intelligent development of industrial detection through automation, precision and intelligence. At the same time, it also enhances data management capabilities, adapts to complex environments, improves response speed and data visualization, and provides strong support for the maintenance and management of condensing towers.

[0071] The above specific implementation methods further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific implementation methods of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A route planning method for intelligent inspection of steel structure condensing towers, characterized in that: The route planning method comprises: Get the information list of the condensing towers in the inspection area, the inspection data of each floor of each condensing tower, and the safe inspection distance S h ; Get the safe take-off altitude of the drone ; According to the safety inspection distance And the inspection data of each layer of the condensing tower Calculate the location information of inspection waypoints; According to the inspection precision of the condensation tower Construct the inspection route for each layer outside the condensing tower and obtain the inspection route outside the tower; Set the action for each waypoint in the outer tower inspection route; Add waypoints and corresponding waypoint actions according to the weld information that needs to be inspected on each layer outside each condensing tower to complete the route planning outside the condensing tower; The drone is lifted to a position above the condensing tower and flies horizontally to above the center point of the condensing tower to inspect the inside of the condensing tower; Add waypoints and corresponding waypoint actions according to the weld information that needs to be inspected on each floor of each condensing tower to complete the route planning inside the condensing tower; The drone is raised to a position above the highest point of the current condensation tower and within a distance from the top to prepare for the inspection of the next condensation tower, until the current condensation tower is the last one, and the drone returns directly after the inspection is completed.

2. A route planning method for intelligent inspection of steel structure condensing tower according to claim 1, characterized in that: The overlooking distance is 20 meters.

3. A route planning method for intelligent inspection of steel structure condensing tower according to claim 1, characterized in that: The information list of the condensing towers in the inspection area, the inspection data of each layer of each condensing tower and the safe inspection distance S are obtained. h Specifically include: Get the information list of the condensing tower in the inspection area 、Number of layers of condensation tower , the height of each condensation tower , height of each floor from the ground , the radius of each layer , the angle of each weld ; According to the inspection environment, the automatic obstacle avoidance technology of the drone is used to obtain the safe inspection distance of each floor of each condensing tower. ; Get the radius of the earth corresponding to the coordinate position of the inspection condensing tower ; Get the geographical information of the inspection area and the height limit information of the inspection area .

4. A route planning method for intelligent inspection of steel structure condensing towers according to claim 3, characterized in that: The safety inspection distance Distance and inspection data of each floor of the condensing tower The location information for calculating the inspection waypoints specifically includes: Safety inspection distance per floor converted to radians = Safety inspection distance of each floor of the condensation tower / Radius of the Earth ; Condensation tower longitude converted to radians =Condensation tower longitude ; Condensation tower latitude converted to radians =Condensation tower latitude ; Calculate the latitude position of the current waypoint Calculate the longitude position of the current waypoint .

5. A route planning method for intelligent inspection of steel structure condensing tower according to claim 1, characterized in that: The inspection precision F of the condensing tower s Construct the inspection route for each layer outside the condensing tower, and obtain the inspection route outside the tower, including: Cyclic inspection of the number of layers of the condensation tower , the inspection angle of each floor is 360°; According to the inspection of the condensation tower , obtain the number of waypoints on each layer, obtain the location information of the inspection waypoints, and store the location information in the route of each layer.

6. A route planning method for intelligent inspection of steel structure condensing tower according to claim 3, characterized in that: The action of setting each waypoint in the outer tower inspection route specifically includes: From the condensation tower information list Get the location information of the center point of the condensation tower , the location information of the center point of the condensation tower Location as a point of interest; Set the gimbal pitch angle to 0° for all waypoints; The drone flies to the height of the corresponding inspection floor and adjusts the lens to 0° to look at the condensation tower; Set the zoom factor of the lens at the first waypoint on each floor to capture the entire floor of the condensing tower; The first waypoint of each layer is used to set the start of interval photography, and the last waypoint of each layer is used to set the end of photography. The interval photography time is automatically calculated based on the camera parameters and the lateral overlap rate of 30%.

7. A route planning method for intelligent inspection of steel structure condensing towers according to claim 3, characterized in that: The adding of waypoints and corresponding waypoint actions according to the weld information of each layer outside each condensing tower that needs to be inspected, and completing the route planning outside the condensing tower specifically include: List of information through condensation tower Get the weld information that needs to be inspected on each floor of each condensation tower ; Each weld adds 4 waypoints to the route, and the actions to be performed at each waypoint include: The first point is to take a head-on shot of the weld; The second point raises the drone meters, the gimbal pitch angle is adjusted to Filming; The third point will lower the drone meters, the gimbal pitch angle is adjusted to Filming; The fourth point will make the drone rise meters, and the gimbal angle is adjusted to 0°.

8. A route planning method for intelligent inspection of steel structure condensing tower according to claim 1, characterized in that: The method of raising the drone to a position above the condensing tower and flying it horizontally to above the center point of the condensing tower to inspect the inside of the condensing tower specifically includes: Raise the drone to 20 meters above the highest point of the condensation tower, and fly horizontally to the top of the center point of the condensation tower; Get the number of layers of the inspection condensing tower , height of each floor from the ground ; When the drone is inspecting the tower, adjust the drone's height to the ground height of each floor. , add 1 waypoint per floor, from the information list of the condensation tower Get the location information of the center point of the condensation tower As the location information of the waypoint, the drone rotates 360 degrees at the waypoint and takes a circle of photos. There is a 30% overlap between adjacent photos. The rotation angle of the drone each time and the number of photos required for each layer inspection are calculated; Calculate the rotation angle of the drone: ,in, It is the angle that the drone needs to rotate each time taking a photo. A lateral overlap rate of 30% means that there is a 30% overlap area between adjacent photos and a 70% non-overlap area, which is converted to a decimal of 0.

7. is the camera’s field of view; Calculate the number of photos taken: , where n is the number of photos taken; 360° means that the drone rotates 360° when inspecting each floor; the lateral overlap rate of 30% means that there is a 30% overlap area between adjacent photos and a 70% non-overlap area, which is converted to a decimal of 0.7, and α is the field of view angle of the camera.

9. A route planning method for intelligent inspection of steel structure condensing tower according to claim 1, characterized in that: The adding of waypoints and corresponding waypoint actions according to the weld information that needs to be inspected on each layer of each condensing tower to complete the route planning in the condensing tower specifically includes: According to the information list of the condensation tower Get the weld information that needs to be inspected on each floor of each condensation tower ; Each weld needs to add 3 waypoints to the route. The actions to be performed at each waypoint include: The first point raises the drone meters, the gimbal pitch angle is adjusted to Filming; The second point will lower the drone meters, the gimbal pitch angle is adjusted to Filming; The third point will lift the drone up meters, the gimbal angle is adjusted to 0°; PTZ adjustment angle ; Drone altitude adjustment .

Images