Real-time route evaluation method and system for inspection of unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicle inspection, and relates to an unmanned aerial vehicle inspection real-time route evaluation method and system. The method comprises the following steps: acquiring task planning route data of an unmanned aerial vehicle, and performing projection transformation to generate standard route data; acquiring real-time state information of the unmanned aerial vehicle, and performing projection transformation to obtain real-time position information of the unmanned aerial vehicle; calculating coordinates of a point closest to the real-time position of the unmanned aerial vehicle in the current flight segment direction of the unmanned aerial vehicle by using the standard flight route data and the real-time position information of the unmanned aerial vehicle; the horizontal deviation and the height deviation between the nearest neighbor point and the real-time position of the unmanned aerial vehicle are calculated, and an evaluation result of the current leg is obtained; and calculating and outputting evaluation results corresponding to all the route segments on the complete route. The method and the system provided by the invention provide a real-time and accurate route evaluation means for an unmanned aerial vehicle inspection task, can effectively prevent safety risks caused by route deviation, can optimize the inspection efficiency, and have wide application prospects and practical values.

Description

Technical Field

[0001] The present invention belongs to the technical field of UAV inspection, and relates to a method and system for real-time route evaluation of UAV inspection. Background Art

[0002] With the rapid development of UAV technology, its applications in multiple fields such as railways, electricity, transportation, agriculture, and urban planning are increasing day by day, demonstrating strong potential and wide practicability. The high efficiency and flexibility of UAVs make them particularly prominent in inspection tasks, and they are gradually replacing traditional methods and becoming key inspection tools. Traditional inspection means, such as manual inspection, often face limitations such as high labor intensity, low efficiency, and being easily restricted by environmental factors. Inspection through preset UAV routes can achieve real-time monitoring of the target area and accurate data collection, thus significantly improving the efficiency and accuracy of inspection work.

[0003] However, in actual applications, due to factors such as environmental changes and differences in UAV equipment, the actual execution status of the task planning route may deviate from the preset standard. Therefore, how to effectively evaluate the route flight results of UAVs during inspection tasks has become a key issue in ensuring the quality and reliability of inspection.

[0004] In the prior art, there are few methods for UAV route evaluation, and most of them focus on qualitative analysis, lacking systematic quantitative evaluation means. Therefore, it is of great practical significance to propose a method for real-time route evaluation of UAV inspection based on task planning route data. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a method and system for real-time route evaluation of UAV inspection, aiming to provide a systematic and quantitative means to evaluate the route flight results of UAVs during inspection tasks, thereby improving the accuracy and reliability of inspection and filling the gap in the method for real-time route evaluation of UAV inspection. This method quantifies and evaluates the route deviation by comparing the real-time state with the standard route data, providing a reliable reference basis for the safe inspection of UAVs.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A method for real-time route evaluation of UAV inspection, the method comprising: (1) Obtaining UAV task planning route data, performing projection transformation, and generating standard route data; (2) Obtaining UAV real-time state information, performing projection transformation, and obtaining UAV real-time position information; (3) Using the standard route data and the UAV real-time position information to calculate the coordinates of the point closest to the UAV real-time position in the current flight segment direction of the UAV; (4) Calculate the horizontal deviation and altitude deviation between the nearest point and the real-time position of the UAV, and then the evaluation result of the current flight segment can be obtained. (5) Repeat steps (3)-(4) to calculate and output the evaluation results corresponding to all flight segments on the complete flight route.

[0007] Further, in step (1), the UAV mission planning route data includes: waypoint number, latitude lat, longitude lon, and altitude.

[0008] Further, in step (1), the standard route data includes: waypoint number, standard eastward coordinate x, standard northward coordinate y, and standard altitude h.

[0009] Further, in step (2), obtain the current position information of the UAV from the real-time status information of the UAV (including the current waypoint number, latitude, longitude, and altitude of the UAV), and obtain the real-time position information of the UAV through projection transformation. The real-time position information of the UAV includes: waypoint number, current eastward coordinate , current northward coordinate , and current altitude .

[0010] Further, in steps (1) and (2), the projection transformation is to convert the position information from the geographic coordinate system to the projection coordinate system.

[0011] Further, in step (3), in step (3), use the standard route data and the real-time position information of the UAV to calculate the coordinates of the nearest point to the real-time position of the UAV in the current flight segment direction , specifically including: According to the waypoint number in the real-time position information of the UAV, determine the corresponding flight segment in the standard route data where the current position of the UAV is located, and obtain the starting point coordinates and target point coordinates of the corresponding flight segment; Take the corresponding flight segment as the current flight segment, and calculate the current flight segment equation , where A, B, and C are constants; According to the real-time position information of the UAV , calculate the perpendicular line equation from the current position of the UAV to the current flight segment ; , , are constants; According to the current flight segment equation, the perpendicular line equation, and the real-time position information of the UAV, calculate the coordinates of the nearest point to the real-time position of the UAV in the current flight segment direction : 。

[0012] Further, in step (4), it specifically includes: Calculate the horizontal deviation according to the coordinates of the point closest to the real-time position of the UAV in the current flight segment direction and the real-time position information of the UAV: ; Calculate the altitude deviation according to the coordinates of the point closest to the real-time position of the UAV in the current flight segment direction and the real-time position information of the UAV, specifically including: Case 1: When the altitude of the starting point of the current flight segment = the altitude of the target point , the altitude deviation: ; Case 2: When the altitude of the starting point of the current flight segment > the altitude of the target point , construct an interpolation function according to the starting point coordinates of the current flight segment and the target point coordinates , and interpolate to obtain the altitude of the point closest to the UAV flight segment direction, and the altitude deviation: ; ; Output the evaluation result of the current flight segment, and the evaluation result includes and .

[0013] A real-time route evaluation system for UAV inspection, the system includes: A UAV mission planning route data acquisition unit, which is used to acquire the inspection mission route data pre-planned by the UAV and perform projection transformation to generate standard route data; A UAV real-time status information acquisition unit, which is used to acquire the real-time status information during the UAV mission execution and perform projection transformation to obtain the real-time position information of the UAV; A UAV real-time route evaluation unit, which uses the standard route data and the real-time position information of the UAV to calculate the coordinates of the point closest to the real-time position of the UAV in the current flight segment direction, and uses the coordinates of the closest point and the real-time position of the UAV to calculate the horizontal deviation and altitude deviation between the closest point and the current real-time position of the UAV, that is, to obtain the evaluation result of the current flight segment; then calculate the evaluation results of all flight segments corresponding to all flight points on the route, and output the evaluation results of all flight segments corresponding to the entire route.

[0014] An electronic device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the real-time route evaluation method for drone inspection as described in any one of the above are implemented.

[0015] A processor-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor, the steps of the real-time route evaluation method for drone inspection as described in any one of the above are implemented.

[0016] Advantageous technical effects of the present invention: The real-time route evaluation method for drone inspection provided by the present invention can, through precise projective transformation and calculation of the coordinates of the nearest point in the route direction, monitor and quantitatively evaluate in real time the route deviation of the drone during the inspection task, including horizontal and altitude deviations. This quantitative evaluation not only improves the accuracy and reliability of the inspection, but also, by providing real-time feedback of the route deviation information, helps to timely adjust the flight path of the drone and ensure the smooth completion of the inspection task.

[0017] The implementation of the present invention is not limited to a specific drone or environment, has good adaptability and broad application prospects, and provides strong technical support for the inspection work of drones in multiple fields. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. The following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 is a calculation relationship diagram of the real-time route evaluation method for drone inspection provided by an embodiment of the present invention; Figure 2 is a schematic structural diagram of the real-time route evaluation system for drone inspection provided by an embodiment of the present invention; Figure 3 is a schematic structural diagram of an electronic device applicable to the real-time route evaluation system for drone inspection provided by an embodiment of the present invention. Detailed Embodiments

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will combine some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0021] Embodiment 1: This embodiment discloses a method for real-time route evaluation of drone inspection. The method includes: (1) Obtain the drone mission planning route data, perform projection transformation, and generate standard route data; (2) Obtain the real-time status information of the drone, perform projection transformation, and obtain the real-time position information of the drone; (3) Use the standard route data and the real-time position information of the drone to calculate the coordinates of the nearest point to the real-time position of the drone in the current flight segment direction; (4) Calculate the horizontal deviation and altitude deviation between the nearest point and the real-time position of the drone, that is, obtain the evaluation result of the current flight segment; (5) Repeat steps (3)-(4) to calculate and output the evaluation results corresponding to all flight segments on the complete route.

[0022] In step (1) of this embodiment, the drone mission planning route data includes: waypoint number, latitude lat, longitude lon, and altitude. The drone mission planning route data is pre-designed and set.

[0023] In step (1) of this embodiment, the standard route data includes: waypoint number, standard eastward coordinate x, standard northward coordinate y, and standard altitude h. The standard route data establishes the benchmark for real-time route evaluation of drone inspection, and all subsequent calculations will be based on this benchmark.

[0024] In step (2) of this embodiment, obtain the current position information of the drone (including the current waypoint number, latitude, longitude, and altitude of the drone) from the real-time status information of the drone, and perform projection transformation on the current position information of the drone to obtain the real-time position information of the drone. The real-time position information of the drone includes: waypoint number, current eastward coordinate , current northward coordinate , and current altitude . The real-time status information of the drone is obtained in real time and updated dynamically.

[0025] In steps (1) and (2) of this embodiment, the projection transformation is to convert the position information from the geographic coordinate system to the projection coordinate system. The geographic coordinate system is specifically the WGS84 coordinate system; the projection coordinate system is specifically the UTM coordinate system.

[0026] In step (3) of this embodiment, use the standard route data and the real-time position information of the drone to calculate the coordinates of the nearest point to the real-time position of the drone in the current flight segment direction , specifically including: Such as Figure 1As shown, according to the waypoint number in the real-time position information of the UAV, determine the corresponding flight segment in the standard flight route data to which the current position of the UAV belongs, and obtain the starting point coordinates of the corresponding flight segment and the target point coordinates ; Take the corresponding flight segment as the current flight segment, and calculate the current flight segment equation according to the starting point coordinates and target point coordinates of the corresponding flight segment , where A, B, and C are constants; According to the real-time position information of the UAV , calculate the perpendicular line equation from the current UAV position to the current flight segment ; , , are constants; According to the current flight segment equation, the perpendicular line equation, and the real-time position information of the UAV, calculate the coordinates of the nearest point to the real-time position of the UAV in the current flight segment direction : .

[0027] In step (4) of this embodiment, it specifically includes: Calculate the horizontal deviation according to the coordinates of the nearest point to the real-time position of the UAV in the current flight segment direction and the real-time position information of the UAV: ; Calculate the height deviation according to the coordinates of the nearest point to the real-time position of the UAV in the current flight segment direction and the real-time position information of the UAV, which specifically includes: Case 1: When the starting point height of the current flight segment = the target point height , the height deviation: ; Case 2: When the starting point height of the current flight segment < the target point height , construct an interpolation function according to the starting point coordinates and the target point coordinates of the current flight segment, and interpolate to obtain the height of the nearest point in the UAV flight segment direction , the height deviation: ; Use the Evaluate() function to represent the horizontal deviation and height deviation of the current flight segment. This function outputs the evaluation result of the current flight segment, and the evaluation result includes and ; .

[0028] In step (5) of this embodiment, according to the number of all waypoints and the number of flight segments included in the complete flight route, the comprehensive evaluation result of the complete flight route is obtained, as shown in Table 1: Table 1: Flight Route Evaluation Table

[0029] Example 2: As Figure 2 shown, it is a schematic structural diagram of an unmanned aerial vehicle (UAV) inspection real-time flight route evaluation system disclosed in an embodiment of the present invention; the system includes: A UAV mission planning flight route data acquisition unit, configured to acquire the flight route data of the inspection mission pre-planned by the UAV, and perform projection transformation to generate standard flight route data; A UAV real-time status information acquisition unit, configured to acquire the real-time status information during the execution of the UAV mission, and perform projection transformation to obtain the real-time position information of the UAV; A UAV real-time flight route evaluation unit, using the standard flight route data and the real-time position information of the UAV, calculates the coordinates of the point closest to the real-time position of the UAV in the current flight segment direction, and uses the coordinates of the closest point and the real-time position of the UAV to calculate the horizontal deviation and height deviation between the closest point and the current real-time position of the UAV, that is, obtains the evaluation result of the current flight segment; then calculates the evaluation results of all flight segments corresponding to all waypoints of the flight route, and outputs the evaluation results corresponding to all flight segments on the complete flight route.

[0030] The method and system provided by the present invention provide a real-time and accurate flight route evaluation means for the UAV inspection mission, can effectively prevent safety risks caused by flight route deviation, and at the same time optimize the inspection efficiency, and have broad application prospects and practical value.

[0031] Example 3: Corresponding to the above-provided UAV inspection real-time flight route evaluation system, the present invention also provides an electronic device. As Figure 3 shown, it is a schematic structural diagram of an electronic device disclosed in an embodiment of the present invention.

[0032] The electronic device according to an embodiment of the present invention includes a processor 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage section 408 into the random access memory (RAM) 403. The processor 401 may include, for example, a general microprocessor (such as a CPU), an instruction set processor, and / or a related chipset, and / or a dedicated microprocessor (such as an application specific integrated circuit (ASIC)), etc. The processor 401 may also include on-board memory for caching purposes. The processor 401 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0033] In the RAM 403, various programs and data required for the operation of the electronic device 400 are stored. The processor 401, the ROM 402, and the RAM 403 are connected to each other via the bus 404. The processor 401 performs various operations of the method flow according to the embodiments of the present invention by executing the programs in the ROM 402 and / or the RAM 403. It should be noted that the programs can also be stored in one or more memories other than the ROM 402 and the RAM 403. The processor 401 can also perform various operations of the method flow according to the embodiments of the present invention by executing the programs stored in one or more memories.

[0034] According to an embodiment of the present invention, the electronic device may further include an input / output (I / O) interface 405, and the input / output (I / O) interface 405 is also connected to the bus 404. The electronic device may further include one or more of the following components connected to the I / O interface 405: an input portion 406 including a keyboard, a mouse, etc.; an output portion 407 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 408 including a hard disk, etc.; and a communication portion 409 including a network interface card such as a LAN card, a modem, etc. The communication portion 409 performs communication processing via a network such as the Internet. The drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read from it can be installed into the storage portion 408 as needed.

[0035] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist separately without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiments of the present invention is implemented.

[0036] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. For example, according to an embodiment of the present invention, the computer-readable storage medium may include one or more memories other than the above-described ROM 402 and / or RAM 403 and / or ROM 402 and RAM 403.

[0037] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0038] The above specific embodiments have further elaborated on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for real-time route evaluation of unmanned aerial vehicle inspection, characterized in that: The method comprises: (1) Obtain the UAV mission planning route data, perform projection transformation, and generate standard route data; (2) Obtain the real-time status information of the UAV, perform projection transformation, and obtain the real-time location information of the UAV; (3) using the standard route data and the real-time location information of the UAV, calculating the coordinates of the point closest to the real-time location of the UAV in the direction of the current flight segment of the UAV; (4) Calculating the horizontal deviation and height deviation between the nearest point and the real-time position of the UAV, that is, obtaining the evaluation result of the current flight segment; (5) Repeat steps (3)-(4) to calculate and output the evaluation results corresponding to all flight segments on the complete route.

2. According to claim 1, a real-time route evaluation method for unmanned aerial vehicle inspection is characterized in that: In step (1), the UAV mission planning route data includes: waypoint number, latitude, longitude, and altitude.

3. According to claim 1, a method for evaluating the real-time route of an unmanned aerial vehicle inspection is characterized in that: In step (1), the standard route data includes: waypoint number, standard east coordinate x, standard north coordinate y, and standard altitude h.

4. According to claim 1, a real-time route evaluation method for unmanned aerial vehicle inspection is characterized in that: In step (2), the current position information of the drone is obtained from the real-time status information of the drone, and the real-time position information of the drone is obtained by projection transformation. The real-time position information of the drone includes: waypoint number, current east coordinate , the current north coordinate , current height .

5. According to claim 1, a real-time route evaluation method for unmanned aerial vehicle inspection is characterized in that: In step (1) and step (2), the projection transformation is to convert the location information from the geographic coordinate system to the projection coordinate system.

6. The method for real-time route assessment of unmanned aerial vehicle inspection according to claim 1, characterized in that: In step (3), the coordinates of the point closest to the real-time position of the drone in the current flight direction are calculated using the standard route data and the real-time position information of the drone. , specifically including: According to the waypoint sequence number in the real-time position information of the drone, determine the corresponding segment in the standard route data to which the current position of the drone belongs, and obtain the starting point coordinates of the corresponding segment and the target point coordinates ; The corresponding flight segment is taken as the current flight segment, and the current flight segment equation is calculated based on the starting point coordinates and the target point coordinates of the corresponding flight segment. , A, B, C are constants; According to the real-time location information of the drone , calculate the vertical line equation from the current drone position to the current flight segment ; , , is a constant; According to the current flight segment equation, the vertical line equation and the real-time position information of the drone, the coordinates of the point closest to the real-time position of the drone in the current flight segment direction are calculated. : 。 7. A method for evaluating the real-time route of an unmanned aerial vehicle inspection according to claim 6, characterized in that: Step (4) specifically includes: Calculate the horizontal deviation based on the coordinates of the point closest to the real-time position of the drone in the current flight direction and the real-time position information of the drone: ; Calculate the height deviation based on the coordinates of the point closest to the real-time position of the drone in the current flight direction and the real-time position information of the drone, including: Case 1: The starting point altitude of the current flight segment = Target point height When the height deviation is: ; Case 2: The starting point altitude of the current flight segment Target point height When the starting point coordinates of the current flight segment are and the target point coordinates Construct an interpolation function based on Interpolate the height of the nearest point in the direction of the drone's flight segment , height deviation: ; Output the evaluation results of the current flight segment, including and .

8. A real-time route assessment system for drone inspection, characterized in that: The system comprises: The UAV mission planning route data acquisition unit is used to obtain the inspection mission route data planned in advance by the UAV, and perform projection transformation to generate standard route data; The UAV real-time status information acquisition unit is used to acquire the real-time status information of the UAV during the execution of the mission, and perform projection transformation to obtain the real-time position information of the UAV; The UAV real-time route evaluation unit uses the standard route data and the real-time position information of the UAV to calculate the coordinates of the point closest to the real-time position of the UAV in the direction of the current flight segment of the UAV, and uses the coordinates of the nearest point and the real-time position of the UAV to calculate the horizontal deviation and height deviation between the nearest point and the current real-time position of the UAV, thereby obtaining the evaluation result of the current flight segment; then the evaluation results of all flight segments corresponding to all waypoints of the route are calculated, and the evaluation results corresponding to all flight segments on the complete route are output.

9. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores executable instructions, which, when executed by a processor, cause the processor to execute the method according to any one of claims 1 to 7.

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