Fixed airport unmanned aerial vehicle route planning method and system

Abstract

The invention discloses a fixed airport unmanned aerial vehicle route planning method and system, and the method greatly reduces the workload of manual collection and verification through the intelligent route planning and the initial route design driven by three-dimensional point cloud data. In the aspect of safety, based on accurate three-dimensional point cloud data and a scientific algorithm, the unmanned aerial vehicle can accurately avoid obstacles and dangerous areas in a transformer substation, for example, when a channel route is planned, a flight path is set strictly according to coordinates of a safety point above a tower head, and collision with a tower and accessory equipment is effectively prevented; in the aspect of inspection efficiency, ordered route planning of conventional inspection and a direct flight target strategy of special inspection are combined, so that the unmanned aerial vehicle can quickly and comprehensively cover an inspection area, invalid path flight and key part omission are avoided, qualitative leap in safety and efficiency is realized compared with the traditional technology, and the unmanned aerial vehicle has a wide application prospect. And the efficient and stable development of the electric power inspection work is powerfully ensured.

Description

Technical Field

[0001] The present invention relates to the field of power transmission line inspection, and particularly to a method and system for planning the flight route of an unmanned aerial vehicle (UAV) with a fixed airport. Background Art

[0002] In the field of power transmission line inspection, UAVs are increasingly frequently used. Traditional fixed airports are usually deployed within substations, resulting in the situation that UAVs may pass through the substation equipment area, high-rise buildings, densely populated areas, etc. during the take-off and landing phases within the substation, which may cause flight safety accidents.

[0003] Meanwhile, the efficiency of generating the power transmission line inspection route is low, and it cannot meet the growing demand for refined inspection of power equipment. Therefore, there is an urgent need for an effective route planning strategy to ensure the safe flight of UAVs and at the same time take into account the efficiency of inspection operations. For example, in some existing cases, due to unreasonable route planning, UAVs have problems such as low route efficiency and high collision risk when performing power transmission line inspection tasks, seriously affecting the quality and effect of power inspection. Summary of the Invention

[0004] Aiming at the deficiencies in the prior art, the present invention provides a method and system for planning the flight route of an unmanned aerial vehicle with a fixed airport, which solves the problems of safety and efficiency in the flight route planning of an unmanned aerial vehicle (fully autonomous inspection) based on a fixed airport. Based on the actual requirements of the power transmission inspection service, a route planning strategy of giving priority to safety inspection for regular inspection operations and giving priority to timeliness for special inspection operations is adopted to ensure that the UAV can complete the power transmission line inspection task safely, efficiently, and comprehensively.

[0005] To achieve the above object, the present invention adopts the following technical solutions: A method for planning the flight route of an unmanned aerial vehicle with a fixed airport, comprising the following steps: S1. According to the position of the fixed airport and the three-dimensional point cloud data of the substation, plan the starting route file; the starting route is the route from the fixed airport to the starting point, and the starting point is several points preset around the substation; S2. Issue a power transmission inspection work order. If the power transmission inspection work order is a regular inspection work order, then proceed to step S3; if the power transmission inspection work order is a special inspection work order, then proceed to step S4; S3. Select the starting tower, and set the outbound route for regular inspection. The outbound route for regular inspection includes the starting route, the regular inspection line channel route, and the refined inspection route. Select the starting route from the starting route file, plan the regular inspection line channel route according to the 3D point cloud data of the towers. The regular inspection line channel route is the route from the starting point to the starting tower and then sequentially inspecting to the end tower. According to the target towers that need to be refined for inspection, pull the refined routes of the corresponding target towers pre-set in the route library as the refined inspection routes. Set the return route for regular inspection; go to step S5; S4. Set the outbound route for special inspection. The outbound route for special inspection includes the starting route, the special inspection channel route, and the refined inspection route. Select the starting route from the starting route file. The special inspection channel route is the route from the starting point to the first target tower that needs to be refined for inspection and then sequentially to the last target tower that needs to be refined for inspection. According to the target towers that need to be refined for inspection, pull the refined routes of the corresponding target towers pre-set in the route library as the refined inspection routes. Set the return route for special inspection; go to step S5; S5. Generate a complete fixed-airport inspection route by splicing the outbound route and the return route; S6. Perform 3D point cloud collision detection on the complete fixed-airport inspection route. If the detection passes, the UAV executes the inspection task according to the complete fixed-airport inspection route. Otherwise, adjust the route that fails the detection and perform 3D point cloud collision detection again until the detection passes.

[0006] To optimize the above technical solution, the specific measures taken also include: Further, in S3, the method for selecting the starting tower is the K-nearest neighbor algorithm or the DBSCAN algorithm.

[0007] Further, in S3, the specific operation of selecting the starting route from the starting route file is as follows: Through the K-nearest neighbor algorithm, judge the distance between the starting points of all starting routes in the starting route file and the starting tower, select the starting point according to the principle of the nearest distance, and select the starting route from the fixed airport to the selected starting point.

[0008] Further, in S3, the specific operation of planning the regular inspection line channel route according to the 3D point cloud data of the towers is as follows: Generate the execution order of the towers through the K-nearest neighbor algorithm, then extract the coordinates at a set height above the tower head as safety points according to the 3D point cloud data, and sequentially connect the safety points according to the execution order to generate the regular inspection line channel route.

[0009] Further, in S3, the specific operation of setting the return route for regular inspection is as follows: After completing the inspection of the last pole tower and reaching the safe height of the pole tower, return along the original route of the channel route in the outbound route of the regular inspection to the starting pole tower, then return to the starting point, and finally return to the airport.

[0010] Furthermore, in S4, the selection of the starting route from the starting route file is specifically as follows: Through the K-nearest neighbor algorithm, judge the distance between the starting points of all starting routes in the starting route file and the first target pole tower that needs to be inspected in detail. Select the starting point according to the principle of the nearest distance, and select the starting route from the fixed airport to the selected starting point.

[0011] Furthermore, in S4, the generation method of the special inspection channel route is as follows: According to the three-dimensional point cloud data, extract the coordinate points at a set height above the tower head of the target pole tower that needs to be inspected in detail and is at a distance from the tower base as safety points, and connect the safety points to generate a special inspection channel route.

[0012] Furthermore, in S4, the setting of the return route for the special inspection is specifically as follows: After completing the inspection task of the last target pole tower that needs to be inspected in detail and reaching the safe height of the pole tower, directly return to the starting point, and finally return to the airport.

[0013] The present invention also proposes a fixed airport UAV route planning system, including: A point cloud database for storing the three-dimensional point cloud data of the substation and the three-dimensional point cloud data of the pole tower; A route library for storing the starting route file, the refined route of each pole tower set in advance, and the complete fixed airport inspection route passed by verification. The starting route file is planned according to the position of the fixed airport and the three-dimensional point cloud data of the substation, and the refined route of each pole tower is planned based on the three-dimensional point cloud data of the pole tower; A work order type judgment module for judging whether the power transmission inspection work order is a regular inspection work order or a special inspection work order; A regular inspection route planning module for selecting the starting pole tower and setting the outbound route of the regular inspection. The outbound route of the regular inspection includes the starting route, the regular inspection line channel route, and the refined inspection route; select the starting route from the starting route file, plan the regular inspection line channel route according to the three-dimensional point cloud data of the pole tower. The regular inspection line channel route is the route from the starting point to the starting pole tower and then sequentially inspecting to the end pole tower; according to the target pole tower that needs to be inspected in detail, pull the refined route of the corresponding target pole tower set in advance in the route library as the refined inspection route; set the return route of the regular inspection; Special patrol route planning module, used to set the outbound route of special patrol. The outbound route of special patrol includes a starting route, a special patrol channel route, and a refined patrol route. Select the starting route from the starting route file. The special patrol channel route is the route from the starting point to the first target tower to be refinedly patrolled, and then sequentially to the last target tower to be refinedly patrolled. According to the target towers to be refinedly patrolled, pull the refined routes of the corresponding target towers pre-set in the route library as the refined patrol routes. Set the return route of special patrol. Fixed airport patrol route generation module, used to splice the outbound route and the return route to generate a complete fixed airport patrol route. Route verification module, used to perform three-dimensional point cloud collision detection on the complete fixed airport patrol route. If the detection passes, store the complete fixed airport patrol route in the route library. Otherwise, adjust the route that fails the detection and perform three-dimensional point cloud collision detection again until the detection passes.

[0014] The beneficial effects of the present invention are as follows: Through intelligent route planning and starting route design driven by three-dimensional point cloud data, the workload of manual collection and verification is greatly reduced. In terms of safety, based on accurate three-dimensional point cloud data and scientific algorithms, the UAV can accurately avoid obstacles and dangerous areas in the substation. For example, when planning the channel route, the flight path is strictly set according to the coordinates of the safety points above the tower head, effectively preventing collisions with towers and their attached equipment. In terms of patrol efficiency, the combination of the orderly route planning of regular patrol and the direct flight target strategy of special patrol enables the UAV to quickly and comprehensively cover the patrol area, avoiding ineffective path flight and omission of key parts. Compared with traditional technologies, both safety and efficiency have achieved a qualitative leap, effectively guaranteeing the efficient and stable development of power patrol work. Brief Description of the Drawings

[0015] Figure 1 This is a fixed airport UAV route planning method proposed by the present invention.

[0016] Figure 2 It is a schematic diagram of regular patrol.

[0017] Figure 3 It is a schematic diagram of special patrol. Detailed Embodiments

[0018] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0019] Embodiment 1

[0020] The present invention provides a method for planning the flight path of an unmanned aerial vehicle at a fixed airport. The flowchart of this method is as Figure 1 shown, and it includes the following steps: S1. According to the position of the fixed airport and the three-dimensional point cloud data of the substation, plan the starting flight path file to ensure the safety and accuracy of the flight path; the starting flight path is the flight path from the fixed airport to the starting point, and the starting point is several points preset around the substation; S2. Issue a power transmission inspection work order. If the power transmission inspection work order is a regular inspection work order, then go to step S3; if the power transmission inspection work order is a special inspection work order, then go to step S4; the principle of regular inspection is to give priority to safety while taking into account timeliness, and the principle of special inspection is to give priority to timeliness while taking into account safety.

[0021] S3. Select the starting tower, and set the outbound flight path of the regular inspection. The outbound flight path of the regular inspection includes the starting flight path, the flight path of the regular inspection line channel, and the refined inspection flight path; select the starting flight path from the starting flight path file, and plan the flight path of the regular inspection line channel according to the three-dimensional point cloud data of the tower. The flight path of the regular inspection line channel is the flight path from the starting point to the starting tower and then to the end tower in sequence; according to the target tower that needs to be refined for inspection, pull the refined flight path of the corresponding target tower preset in the flight path library as the refined inspection flight path; set the return flight path of the regular inspection; go to step S5; In S3, the method for selecting the starting tower is the K-nearest neighbor algorithm or the DBSCAN algorithm.

[0022] The specific method for selecting the starting flight path from the starting flight path file is as follows: Through the K-nearest neighbor algorithm, judge the distance between the starting points of all starting flight paths in the starting flight path file and the starting tower, select the starting point according to the principle of the nearest distance, and select the starting flight path from the fixed airport to the selected starting point.

[0023] The specific method for planning the flight path of the regular inspection line channel according to the three-dimensional point cloud data of the tower is as follows: Generate the execution order of the towers through the K-nearest neighbor algorithm, and then according to the three-dimensional point cloud data, extract the coordinates at a set height above the tower head as safety points, and connect the safety points in sequence according to the execution order to generate the flight path of the regular inspection line channel.

[0024] The specific method for setting the return flight path of the regular inspection is as follows: After completing the inspection of the last tower and reaching the safety height of the tower, return to the starting tower along the channel flight path in the outbound flight path of the regular inspection, then return to the starting point, and finally return to the airport.

[0025] In this embodiment, the situation of regular inspection is as follows Figure 2 As shown, four off - station starting points are set around the substation. Since the starting point 1 is the closest to the starting tower A, the airport drone selects the starting point 1 to leave the station, and the starting flight path is the flight path from the fixed airport to the starting point 1. The starting flight path from the airport to the starting point 1 is generated by using the method of three - dimensional point cloud data planning, and the starting flight path is uniformly maintained by the drone public service platform; the starting tower A of the inspection line is generally selected according to the principles of safety and reliability and being relatively close to the airport; for the channel flight path from the starting point 1 to the tower A and from the tower A to the tower G, due to the particularity of the transmission line, there will be no turning - back situation for the line. The execution order of the towers can be generated by the K - Nearest Neighbor (KNN) algorithm, and then according to the three - dimensional point cloud data planning, the coordinates 10 meters above the tower head are extracted as safety points, and finally the channel flight path is generated; the line towers D and G are the target towers that need to be inspected in detail. The refined flight paths of the corresponding target towers pre - set in the flight path library are pulled as the refined inspection flight paths. The regular inspection plan only needs to manually plan the starting flight paths from the airport to the 4 starting points according to the three - dimensional point cloud data, and set the starting towers of each line around the substation. The inspection has high safety and moderate efficiency.

[0026] S4. Set the outbound flight path for special inspection. The outbound flight path for special inspection includes the starting flight path, the special inspection channel flight path, and the refined inspection flight path; select the starting flight path from the starting flight path file. The special inspection channel flight path is the flight path from the starting point to the first target tower that needs to be inspected in detail, and then sequentially to the last target tower that needs to be inspected in detail; according to the target towers that need to be inspected in detail, pull the refined flight paths of the corresponding target towers pre - set in the flight path library as the refined inspection flight paths; set the return flight path for special inspection; enter step S5; In S4, the specific method of selecting the starting flight path from the starting flight path file is as follows: Through the K - Nearest Neighbor algorithm, judge the distance between the starting points of all starting flight paths in the starting flight path file and the first target tower that needs to be inspected in detail, and select the starting point according to the principle of the closest distance. Select the starting flight path from the fixed airport to the selected starting point.

[0027] The generation method of the special inspection channel flight path is as follows: According to the three - dimensional point cloud data, extract the coordinate points at a set height above the tower head of the target tower that needs to be inspected in detail as safety points, and connect the safety points to generate the special inspection channel flight path.

[0028] The specific method of setting the return flight path for special inspection is as follows: After completing the inspection task of the target tower pole that requires refined inspection and reaching the safe height of the tower pole, directly return to the starting point, and finally return to the airport.

[0029] In this embodiment, the special inspection situations are as Figure 3 shown. Four off-station starting points are set around the substation. When inspecting, the airport UAV flies directly to the inspection target. After the inspection is completed, the UAV returns along the original route. Since the starting point 2 is the closest to the target tower pole D that requires refined inspection, the airport UAV selects the starting point 2 to leave the station, and the starting route is the fixed route from the airport to the starting point 2. The target tower pole D that requires refined inspection is the starting tower pole; the starting route from the airport to the starting point 2 is generated by using the method of three-dimensional point cloud data planning, and the starting route is uniformly maintained by the UAV public service platform; the channel routes from the starting point 2 to the tower pole D and from the tower pole D to the tower pole G are planned according to the three-dimensional point cloud data. The coordinate points 110 meters above the tower base above the tower head are extracted as safety points, and the safety points are connected to generate the channel inspection route; the route for flying around and inspecting around the line tower poles D and G is the refined route. The special inspection plan only needs to manually plan the starting routes from the airport to the 4 starting points according to the three-dimensional point cloud data, and there is no need to set the starting tower poles of the inspection line, with less workload. Since the UAV flies directly to the inspection target, the inspection range of the UAV is large, the execution efficiency is high, and the safety is moderate.

[0030] S5. Generate a complete fixed-airport inspection route by splicing the outbound route and the return route; S6. Perform three-dimensional point cloud collision detection on the complete fixed-airport inspection route. If the detection passes, the UAV executes the inspection task according to the complete fixed-airport inspection route; otherwise, adjust the route that fails the detection and perform three-dimensional point cloud collision detection again until the detection passes.

[0031] The UAV models adapted to this solution include UAV models from different manufacturers, such as Phantom 4 RTK, M300, M210, M3T, etc.

[0032] Embodiment 2

[0033] The present invention proposes a fixed-airport UAV route planning system corresponding to the method of Embodiment 1, including: A point cloud database for storing the three-dimensional point cloud data of the substation and the three-dimensional point cloud data of the tower poles; A route library for storing the starting route file, the refined route of each tower pole set in advance, and the complete fixed-airport inspection route that has passed the verification. The starting route file is obtained by planning according to the position of the fixed airport and the three-dimensional point cloud data of the substation, and the refined route of each tower pole is obtained by planning the three-dimensional point cloud data of the tower pole; The work order type judgment module is used to judge whether the power transmission inspection work order is a regular inspection work order or a special inspection work order; The regular inspection route planning module is used to select the starting tower, set the outbound route of the regular inspection, and the outbound route of the regular inspection includes the starting route, the regular inspection line channel route, and the refined inspection route; select the starting route from the starting route file, plan the regular inspection line channel route according to the 3D point cloud data of the tower, and the regular inspection line channel route is the route from the starting point to the starting tower and then to the end tower in sequence; according to the target tower that needs to be refined for inspection, pull the refined route of the corresponding target tower pre-set in the route library as the refined inspection route; set the return route of the regular inspection; The special inspection route planning module is used to set the outbound route of the special inspection, and the outbound route of the special inspection includes the starting route, the special inspection channel route, and the refined inspection route; select the starting route from the starting route file, and the special inspection channel route is the route from the starting point to the first target tower that needs to be refined for inspection and then to the last target tower that needs to be refined for inspection in sequence; according to the target tower that needs to be refined for inspection, pull the refined route of the corresponding target tower pre-set in the route library as the refined inspection route; set the return route of the special inspection; The fixed airport inspection route generation module is used to splice the outbound route and the return route to generate a complete fixed airport inspection route; The route verification module is used to perform 3D point cloud collision detection on the complete fixed airport inspection route. If the detection passes, the complete fixed airport inspection route is stored in the route library. Otherwise, the route that fails the detection is adjusted and the 3D point cloud collision detection is performed again until the detection passes.

[0034] The implementation methods of each module and module functions in the system are exactly the same as the steps of the method in Embodiment 1, so they will not be repeated here.

[0035] Embodiment 3

[0036] The present invention provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the fixed airport UAV route planning method described in Embodiment 1 is implemented.

[0037] Embodiment 4

[0038] The present invention provides a computer-readable storage medium storing a computer program, and the computer program causes a computer to execute the fixed airport UAV route planning method described in Embodiment 1.

[0039] In the embodiments disclosed in the present application, the computer storage medium may be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. The computer storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of the computer storage medium would include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0040] Those of ordinary skill in the art will appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed in the present application can be implemented in electronic hardware or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present application.

[0041] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art in the technical field, several improvements and refinements made without departing from the principle of the present invention should be regarded as within the protection scope of the present invention.

Claims

1. A method for planning the flight path of an unmanned aerial vehicle at an airport, characterized in that, It includes the following steps: S1. Plan the starting flight route file according to the location of the fixed airport and the 3D point cloud data of the substation; The starting flight route is the route from the fixed airport to the starting point, and the starting point is several points preset around the substation; S2. Issue a power transmission inspection work order. If the power transmission inspection work order is a regular inspection work order, go to step S3. If the power transmission inspection work order is a special inspection work order, go to step S4; S3. Select the starting tower, and set the outbound flight route for regular inspection. The outbound flight route for regular inspection includes the starting flight route, the regular inspection line channel flight route, and the refined inspection flight route; Select the starting flight route from the starting flight route file, and plan the regular inspection line channel flight route according to the 3D point cloud data of the tower. The regular inspection line channel flight route is the route from the starting point to the starting tower and then sequentially inspects to the end tower; According to the target tower that needs to be refined for inspection, pull the refined flight route of the corresponding target tower preset in the flight route library as the refined inspection flight route; Set the return flight route for regular inspection; Go to step S5; S4. Set the outbound flight route for special inspection. The outbound flight route for special inspection includes the starting flight route, the special inspection channel flight route, and the refined inspection flight route; Select the starting flight route from the starting flight route file. The special inspection channel flight route is the route from the starting point to the first target tower that needs to be refined for inspection and then sequentially to the last target tower that needs to be refined for inspection; According to the target tower that needs to be refined for inspection, pull the refined flight route of the corresponding target tower preset in the flight route library as the refined inspection flight route; Set the return flight route for special inspection; Go to step S5; S5. Generate a complete fixed airport inspection flight route by splicing the outbound flight route and the return flight route; S6. Perform 3D point cloud collision detection on the complete fixed airport inspection flight route. If the detection passes, the UAV executes the inspection task according to the complete fixed airport inspection flight route. Otherwise, adjust the flight route that fails the detection and perform 3D point cloud collision detection again until the detection passes.

2. The fixed airport UAV route planning method according to claim 1, wherein, In S3, the method for selecting the starting tower is the K-nearest neighbor algorithm or the DBSCAN algorithm.

3. The fixed airport UAV route planning method according to claim 1, characterized in that, In S3, the specific method for selecting the starting flight route from the starting flight route file is as follows: Through the K-nearest neighbor algorithm, judge the distance between the starting points of all starting flight routes in the starting flight route file and the starting tower, select the starting point according to the principle of the nearest distance, and select the starting flight route from the fixed airport to the selected starting point.

4. The fixed airport UAV route planning method according to claim 1, wherein In S3, the specific method for planning the regular inspection line channel flight route according to the 3D point cloud data of the tower is as follows: Generate the execution order of the towers through the K-nearest neighbor algorithm, and then extract the coordinates at a set height above the tower head as safety points according to the 3D point cloud data, and sequentially connect the safety points according to the execution order to generate the regular inspection line channel flight route.

5. The fixed airport UAV route planning method according to claim 1, characterized in that, In S3, the specific method for setting the return flight route for regular inspection is as follows: After completing the inspection of the last tower, reach the safety height of the tower, return to the starting tower along the channel flight route in the regular inspection outbound flight route, then return to the starting point, and finally return to the airport.

6. The fixed airport UAV route planning method according to claim 1, wherein, In S4, the specific method for selecting the starting flight route from the starting flight route file is as follows: By using the K-nearest neighbor algorithm, determine the distances between the starting points of all starting routes in the starting route file and the first target tower to be inspected in detail. Select the starting point according to the principle of the nearest distance, and select the starting route from the fixed airport to the selected starting point.

7. The fixed airport UAV route planning method according to claim 1, wherein In S4, the method for generating the special inspection channel route is as follows: According to the three-dimensional point cloud data, extract the coordinate points at a set height above the tower head of the target tower to be inspected in detail and at a distance from the tower base as safety points, and connect the safety points to generate a special inspection channel route.

8. The fixed airport UAV route planning method according to claim 1, wherein, In S4, the specific return route for the special inspection is as follows: After completing the inspection task of the last target tower to be inspected in detail and reaching the safety height of the tower, directly return to the starting point, and finally return to the airport.

9. A fixed airport UAV route planning system, characterized in that, It includes: A point cloud database for storing the three-dimensional point cloud data of the substation and the three-dimensional point cloud data of the towers. A route library for storing the starting route file, the detailed routes of each pre-set tower, and the complete fixed airport inspection route that has passed the verification. The starting route file is planned according to the position of the fixed airport and the three-dimensional point cloud data of the substation, and the detailed route of each tower is planned based on the three-dimensional point cloud data of the tower. A work order type judgment module for judging whether the transmission inspection work order is a regular inspection work order or a special inspection work order. A regular inspection route planning module for selecting the starting tower and setting the outbound route of the regular inspection. The outbound route of the regular inspection includes the starting route, the regular inspection line channel route, and the detailed inspection route. Select the starting route from the starting route file, and plan the regular inspection line channel route according to the three-dimensional point cloud data of the tower. The regular inspection line channel route is the route from the starting point to the starting tower and then sequentially inspecting to the end tower. According to the target tower to be inspected in detail, pull the detailed route of the corresponding target tower pre-set in the route library as the detailed inspection route. Set the return route of the regular inspection. A special inspection route planning module for setting the outbound route of the special inspection. The outbound route of the special inspection includes the starting route, the special inspection channel route, and the detailed inspection route. Select the starting route from the starting route file. The special inspection channel route is the route from the starting point to the first target tower to be inspected in detail and then sequentially to the last target tower to be inspected in detail. According to the target tower to be inspected in detail, pull the detailed route of the corresponding target tower pre-set in the route library as the detailed inspection route. Set the return route of the special inspection. A fixed airport inspection route generation module for splicing the outbound route and the return route to generate a complete fixed airport inspection route. A route verification module for performing three-dimensional point cloud collision detection on the complete fixed airport inspection route. If the detection passes, store the complete fixed airport inspection route in the route library. Otherwise, adjust the route that fails the detection and re-perform the three-dimensional point cloud collision detection until the detection passes.

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