Unmanned aerial vehicle inspection transition route planning method and related device

Abstract

The embodiment of the invention relates to the field of unmanned aerial vehicle equipment, and provides an unmanned aerial vehicle inspection transition route planning method and a related device, and the method comprises the steps: obtaining an inspection ending waypoint of a rough inspection route, a safe flight height and a safe flight distance of fine inspection equipment, and an inspection starting waypoint of equipment to be subjected to fine inspection and the fine inspection route; according to the safe flight height and the safe flight distance, determining an inspection safe route of the fine inspection equipment; determining a starting waypoint according to the inspection ending waypoint and the inspection safety route; determining a safe entry waypoint according to the tour-inspection starting waypoint and the tour-inspection safe route; an improved RRT algorithm is adopted to carry out route planning on the safe entry waypoint and the routing inspection starting waypoint, and an obstacle avoidance route is obtained; and according to the inspection ending waypoint, the starting waypoint, the safe entry waypoint and the obstacle avoidance route, determining an unmanned aerial vehicle inspection transition route, so that the transition route considering the obstacle avoidance efficiency and the path optimality can be generated, and the safety of the unmanned aerial vehicle during transition flight between the inspection areas is improved.

Description

Technical Field

[0001] This application relates to the technical field of data drone devices, and particularly to a method for planning a transition route for drone inspection and related devices. Background Art

[0002] Drone inspection technology has been widely applied to intelligent operation and maintenance tasks in fields such as power equipment, oil and gas pipelines, and transportation facilities. For large-scale inspection tasks, a sub-region planning strategy can be adopted, which is divided into a fine inspection area and a rough inspection area.

[0003] However, in terms of the planning of the transition route between the fine inspection area and the rough inspection area, the existing generation logic of the transition route has a low matching degree with the requirements of fine inspection, and fails to fully integrate dynamic environment constraints and equipment inspection parameters, resulting in potential safety hazards in the process of route transition. Summary of the Invention

[0004] The embodiments of this application provide a method for planning a transition route for drone inspection and related devices, which can automatically generate a transition route that takes into account both obstacle avoidance efficiency and path optimality based on the avionics between the rough inspection route and the fine inspection route, and improve the safety of the drone during transition flight between inspection areas.

[0005] The first aspect of the embodiments of this application provides a method for planning a transition route for drone inspection, and the method includes:

[0006] Obtain the end inspection waypoint of the previous rough inspection route of the drone;

[0007] Obtain the safe flight altitude, safe flight distance of the current device to be finely inspected, and the start inspection waypoint of the preset fine inspection route of the current device to be finely inspected;

[0008] Determine the inspection safe route of the fine inspection device according to the safe flight altitude and the safe flight distance;

[0009] Determine the starting waypoint according to the end inspection waypoint and the inspection safe route;

[0010] Determine the safe entry waypoint according to the start inspection waypoint and the inspection safe route;

[0011] Adopt an improved RRT algorithm to plan a route between the safe entry waypoint and the start inspection waypoint to obtain an obstacle avoidance route;

[0012] Determine the transition route for drone inspection according to the end inspection waypoint, the starting waypoint, the safe entry waypoint, and the obstacle avoidance route.

[0013] Further, determining the inspection safety route of the fine inspection device according to the safe flight altitude and the safe flight distance includes:

[0014] Determining a safe flight plane according to the safe flight altitude;

[0015] Determining a safe flight range on the safe flight plane according to the safe flight distance;

[0016] Extracting the edge contour of the safe flight range to obtain the inspection safety route.

[0017] Further, the inspection safety route can be rectangular or circular.

[0018] Further, determining the starting waypoint according to the ending inspection waypoint and the inspection safety route includes:

[0019] Dividing the inspection safety route into n sub-inspection safety routes;

[0020] Calculating the shortest distances between the n sub-inspection safety routes and the ending inspection waypoint respectively to obtain n shortest distances;

[0021] Selecting the shortest one from the n shortest distances;

[0022] Selecting the corresponding sub-inspection safety route according to the shortest shortest distance to obtain the starting sub-inspection safety route;

[0023] Determining the starting waypoint according to the shortest shortest distance and the starting sub-inspection safety route.

[0024] Further, determining the UAV inspection transition route according to the ending inspection waypoint, the starting waypoint, the safe entry waypoint and the obstacle avoidance route includes:

[0025] Determining a first transition route according to the ending inspection waypoint and the starting waypoint;

[0026] Determining a second transition route according to the starting waypoint and the safe entry waypoint;

[0027] Connecting the first transition route, the second transition route and the obstacle avoidance route in sequence to obtain the UAV inspection transition route.

[0028] In this example, by obtaining the end inspection waypoint of the previous rough inspection route of the drone, as well as the safe flight parameters of the equipment to be inspected in detail and the waypoints of the preset detailed inspection route, a safe inspection route during the flight of the drone is generated. By combining with the improved RRT algorithm, a transition route that takes into account both obstacle avoidance efficiency and path optimality is automatically generated, improving the safety of the drone during the transition flight between inspection areas, so as to solve the technical problem that the matching degree between the generation logic of the existing transition route and the refined inspection requirements is relatively low, and the dynamic environment constraints and equipment inspection parameters are not fully integrated, resulting in potential safety hazards during the route transition.

[0029] The second aspect of the embodiments of the present application provides a device for planning a drone inspection transition route, and the device includes:

[0030] A first acquisition unit, configured to acquire the end inspection waypoint of the previous rough inspection route of the drone;

[0031] A second acquisition unit, configured to acquire the safe flight altitude, safe flight distance of the device to be inspected in detail currently, and the start inspection waypoint of the preset detailed inspection route of the device to be inspected in detail currently;

[0032] A first processing unit, configured to determine the inspection safe route of the device to be inspected in detail according to the safe flight altitude and the safe flight distance;

[0033] A second processing unit, configured to determine the starting waypoint according to the end inspection waypoint and the inspection safe route;

[0034] A third processing unit, configured to determine the safe entry waypoint according to the start inspection waypoint and the inspection safe route;

[0035] A determination unit, configured to determine the drone inspection transition route according to the end inspection waypoint, the starting waypoint, the safe entry waypoint, and the obstacle avoidance route.

[0036] Further, in the aspect of determining the inspection safe route of the device to be inspected in detail according to the safe flight altitude and the safe flight distance, the first processing unit includes:

[0037] Determine the safe flight plane according to the safe flight altitude;

[0038] Determine the safe flight range on the safe flight plane according to the safe flight distance;

[0039] Extract the edge contour of the safe flight range to obtain the inspection safe route.

[0040] Further, in the aspect of determining the starting waypoint according to the end inspection waypoint and the inspection safe route, the second processing unit is used for:

[0041] Divide the inspection safety route into n sub-inspection safety routes;

[0042] Calculate the shortest distances between the n sub-inspection safety routes and the end inspection waypoint respectively to obtain n shortest distances;

[0043] Select the shortest one from the n shortest distances;

[0044] Select the corresponding sub-inspection safety route according to the shortest shortest distance to obtain the starting sub-inspection safety route;

[0045] Determine the starting waypoint according to the shortest shortest distance and the starting sub-inspection safety route.

[0046] Further, in the aspect of determining the UAV inspection transition route according to the end inspection waypoint, the starting waypoint, the safe entry waypoint and the obstacle avoidance route, the determining unit is configured to:

[0047] Determine a first transition route according to the end inspection waypoint and the starting waypoint;

[0048] Determine a second transition route according to the starting waypoint and the safe entry waypoint;

[0049] Connect the first transition route, the second transition route and the obstacle avoidance route in sequence to obtain the UAV inspection transition route.

[0050] A third aspect of the embodiments of the present application provides a terminal, including a processor, an input device, an output device and a memory, the processor, the input device, the output device and the memory are connected to each other, wherein, the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the step instructions of the UAV inspection transition route planning method in the first aspect of the embodiments of the present application.

[0051] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, wherein, the above computer-readable storage medium stores a computer program for electronic data exchange, wherein, the above computer program enables a computer to execute some or all of the steps described in the UAV inspection transition route planning method in the first aspect of the embodiments of the present application.

[0052] A fifth aspect of the embodiments of the present application provides a computer program product, wherein, the above computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the above computer program is operable to enable a computer to execute some or all of the steps described in the UAV inspection transition route planning method in the first aspect of the embodiments of the present application. This computer program product can be a software installation package. Description of the Drawings

[0053] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0054] Figure 1 This is a schematic diagram of the overall process of a method for planning a transition route for UAV inspection provided by an embodiment of the present application;

[0055] Figure 2A This is a schematic diagram of the specific steps for determining the inspection safety route of a method for planning a transition route for UAV inspection provided by an embodiment of the present application;

[0056] Figure 2B This is a schematic diagram of the demonstration screen of the inspection safety route of a method for planning a transition route for UAV inspection provided by an embodiment of the present application;

[0057] Figure 3A This is a schematic diagram of the specific steps for determining the starting waypoint of a method for planning a transition route for UAV inspection provided by an embodiment of the present application;

[0058] Figure 3B This is a schematic diagram of the demonstration screen of the starting waypoint determined by a method for planning a transition route for UAV inspection provided by an embodiment of the present application;

[0059] Figure 4A This is a schematic diagram of the specific steps for determining the transition route of UAV inspection of a method for planning a transition route for UAV inspection provided by an embodiment of the present application;

[0060] Figure 4B This is a schematic diagram of the demonstration screen of the transition route of UAV inspection determined by a method for planning a transition route for UAV inspection provided by an embodiment of the present application;

[0061] Figure 5 This is a schematic diagram of the structure of a device for planning a transition route for UAV inspection provided by an embodiment of the present application;

[0062] Figure 6 This is a schematic diagram of the structure of a terminal provided by an embodiment of the present application;

[0063] Reference numerals:

[0064] 100 - First acquisition unit, 200 - Second acquisition unit, 300 - First processing unit, 400 - Second processing unit, 500 - Third processing unit, 600 - Determination unit. Detailed implementation manners

[0065] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0066] The terms "first", "second", etc. in the specification and claims of the present application and the above accompanying drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0067] Referring to "embodiments" in the present application means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments.

[0068] To better understand a method for determining a service product provided in the embodiments of the present application, the scenario of applying the method for planning a transition route for drone inspection is briefly introduced below.

[0069] In the inspection mission of an unmanned aerial vehicle (UAV), a global path planning algorithm is usually adopted to generate a covering inspection path based on the spatial characteristics and environmental constraints of a preset mission area, and a local obstacle avoidance algorithm is combined to adjust the flight trajectory in real time. For large-scale inspection missions, a regional planning strategy can be adopted, that is, the target area is divided into a rough inspection area and a fine inspection area according to the inspection accuracy requirements, and the corresponding cruise routes are generated respectively. Among them, the rough inspection route mainly performs low-precision and long-distance fast scanning, while the fine inspection route constructs a high-precision and close-range surrounding path around specific equipment to ensure the quality of data collection. However, in terms of the transition route planning between the fine inspection area and the rough inspection area, the existing generation logic of the transition route has a low matching degree with the refined inspection requirements, and fails to fully integrate the dynamic environmental constraints and equipment inspection parameters, resulting in potential safety hazards during the route transition. For example, when the UAV switches from the rough inspection area of a high-voltage tower group to the fine inspection of a specific insulator string, if the traditional method directly adopts a straight-line path between two points or a fixed altitude layer flight strategy, it may directly perform fine inspection without adjusting the flight altitude due to not considering the electrical safety flight distance of the insulator string, resulting in electromagnetic interference by high-voltage equipment, causing the UAV to be unable to complete the inspection mission or even crash, posing a safety hazard.

[0070] The UAV inspection transition route planning method is applied to a UAV inspection transition route planning device. Figure 1 Fig. shows the overall flow diagram of a UAV inspection transition route planning method. As Figure 1 shown, it includes:

[0071] S1. Obtain the end inspection waypoint of the previous UAV rough inspection route. The end inspection waypoint of the previous UAV rough inspection route is the last cruise point of the rough inspection route. The specific scenario to which the transition route planning method provided by the present invention is applied is from the end inspection waypoint of the UAV rough inspection route to the start inspection waypoint of the UAV preset fine inspection route.

[0072] S2. Obtain the safe flight altitude, safe flight distance of the current device to be inspected in detail, and the start inspection waypoint of the preset fine inspection route of the current device to be inspected in detail.

[0073] It should be noted that the safe flight altitude and safe flight distance are determined according to the type of the device to be inspected. For example, if the type of the device to be inspected is a 200 kV power transmission tower, the flight altitude is the highest height of the power transmission tower plus 20 meters, the safe flight distance is the minimum clearance distance plus 10 meters, and the start inspection waypoint is the first inspection waypoint of the fine inspection route.

[0074] S3. Determine the inspection safety route of the device to be inspected in detail according to the safe flight altitude and the safe flight distance.

[0075] In this example, the inspection safety route formed according to the safe flight altitude and safe flight distance is the route with the shortest distance in the transition interval between the rough inspection interval and the fine inspection interval of the UAV. Therefore, it can ensure the safe and fastest flight of the UAV during the transition flight.

[0076] S4. Determine the starting waypoint according to the end inspection waypoint and the inspection safety route.

[0077] S5. Determine the safe entry waypoint according to the start inspection waypoint and the inspection safety route.

[0078] S6. Use the improved RRT algorithm to plan a route between the safe entry waypoint and the start inspection waypoint to obtain an obstacle avoidance route.

[0079] In this example, it should be noted that the improved RRT algorithm process adopted in this example includes:

[0080] (1) Initialization:

[0081] Create a tree with the starting point as the root node.

[0082] (2) Main loop: Repeat the following steps until the maximum number of iterations is reached or the target is found: a) Sampling: Randomly sample a point in the configuration space. b) Finding the nearest node: Find the node in the tree that is closest to the sampled point. c) Expansion: Expand a fixed step length from the nearest node towards the sampled point to generate a new node. d) Collision detection: Check whether the new node collides with the obstacle. e) Selecting the parent node: Within a certain radius near the new node, select the node that minimizes the path cost from the starting point to the new node as the parent node. f) Reconnection: Try to use the new node as the parent node to reconnect the nearby nodes to optimize the local path. g) Adding the node: Add the new node and its edge to the tree. h) Checking the target: If the new node is close enough to the target, the algorithm ends.

[0083] (3) Path extraction:

[0084] Trace back from the target node to the starting point to extract the final path.

[0085] 3. Key improvements of RRT* Compared with the basic RRT algorithm, RRT* mainly has two improvements:

[0086] 1. Selecting the optimal parent node:

[0087] RRT simply connects the new node to the nearest node.

[0088] RRT* selects the node that can minimize the path cost within a certain range as the parent node.

[0089] (4) Reconnection:

[0090] The RRT does not modify the existing tree structure.

[0091] The RRT* will attempt to reconnect nearby nodes with new nodes and continuously optimize the tree structure.

[0092] (5) Algorithm characteristics

[0093] Probabilistic completeness: As the number of iterations increases, the probability of finding a path approaches 1.

[0094] Asymptotic optimality: Over time, the algorithm will converge to the optimal path.

[0095] Strong adaptability: It can handle high-dimensional spaces and complex environments.

[0096] Computational efficiency: Compared with deterministic algorithms, it is more efficient in high-dimensional spaces.

[0097] S7. Determine the transition flight path of the UAV inspection based on the end inspection waypoint, start waypoint, safe entry waypoint, and obstacle avoidance route.

[0098] In this example, by obtaining the end inspection waypoint of the previous rough inspection flight path of the UAV, as well as the safe flight parameters of the equipment to be inspected in detail and the waypoints of the preset detailed inspection flight path, the inspection safe flight path during the UAV flight is generated. And by combining with the improved RRT algorithm, a transition flight path that takes into account both obstacle avoidance effectiveness and path optimality is automatically generated, improving the safety of the UAV during the transition flight between inspection areas, thus solving the technical problem that the generation logic of the existing transition flight path has a low matching degree with the refined inspection requirements, and fails to fully integrate the dynamic environment constraints and equipment inspection parameters, resulting in potential safety hazards during the flight path transition.

[0099] Figure 2A Shows a schematic diagram of the specific steps for determining the inspection safe flight path of the UAV inspection transition flight path planning method. Figure 2B Shows a schematic diagram of the demonstration screen of the inspection safe flight path of the UAV inspection transition flight path planning method;

[0100] In a possible implementation, as Figure 2A and Figure 2B shown, to determine the inspection safe flight path of the equipment to be inspected in detail according to the safe flight height and safe flight distance, the following steps may be included:

[0101] S3-1. Determine the safe flight plane according to the safe flight height.

[0102] S3-2. Determine the safe flight range on the safe flight plane according to the safe flight distance.

[0103] S3-3. Extract the edge contour of the safe flight range to obtain the inspection safe route.

[0104] In this example, first determine the safe flight plane according to the safe flight altitude, and then combine the safe flight plane to form a safe flight range. As Figure 2B shown, in this example, a rectangular range is formed, and then the edge contour of the rectangle is extracted to obtain the inspection safe route. It should be noted that the safe flight range can also form a circular range according to the safe flight distance. This example takes the rectangular range as an example.

[0105] Figure 3A Fig. shows a schematic diagram of the specific steps for determining the starting waypoint of a method for planning the transition route of UAV inspection. Figure 3B Fig. shows a schematic diagram of the demonstration screen for determining the starting waypoint of a method for planning the transition route of UAV inspection. In a possible implementation, as Figure 3A shown, according to the end inspection waypoint and the inspection safe route, determine the starting waypoint, which may include the following steps:

[0106] S4-1. Divide the inspection safe route into n sub-inspection safe routes. Specifically, as Figure 3B shown, divide the inspection safe route into 4 sub-inspection safe routes for calculating the shortest distance.

[0107] S4-2. Calculate the shortest distances between the n sub-inspection safe routes and the end inspection waypoint respectively to obtain n shortest distances. Specifically, calculate the shortest distances between the 4 sub-inspection safe routes and the end inspection waypoint respectively. For the shortest distance between each sub-inspection safe route and the end inspection waypoint, draw perpendicular lines from the end inspection waypoint to the 4 sub-inspection safe routes respectively, and obtain 4 shortest distances through the coordinate method.

[0108] S4-3. Select the shortest shortest distance from the n shortest distances. Specifically, in step S4-3, 4 shortest distances are obtained, and the smallest shortest distance is obtained by the sorting method as the shortest shortest distance.

[0109] S4-4. Select the corresponding sub-inspection safe route according to the shortest shortest distance to obtain the starting sub-inspection safe route. Specifically, determine the starting sub-inspection safe route according to the shortest shortest distance.

[0110] S4-5. Determine the starting waypoint according to the shortest shortest distance and the starting sub-inspection safe route. Specifically, the intersection point of the perpendicular line between the end inspection waypoints and the starting sub-inspection safe route is determined as the starting waypoint, and this waypoint is the starting waypoint for entering the starting sub-inspection safe route.

[0111] In this example, by dividing the inspection safety route into n sub-inspection safety routes, then using the nearest distance method to select the nearest sub-inspection safety route as the starting sub-inspection safety route, and then determining the starting waypoint based on the starting sub-inspection safety route and the nearest distance, it is possible to ensure the determination of the starting waypoint for the UAV to enter the safety flight route from the end cruise point of the previous rough area with both speed and safety guaranteed.

[0112] Furthermore, it should be noted that in the step of determining the safe entry waypoint according to the starting inspection waypoint and the inspection safety route, the method of determining the safe entry waypoint is similar to the method in steps S4-1 to S4-5. The safe entry waypoint is determined through similar steps to obtain the next waypoint that the UAV needs to reach starting from the starting waypoint. In this embodiment, preferably, since both the starting waypoint and the safe entry waypoint are on the inspection safety route, the flight trajectory from the starting waypoint to the safe entry waypoint is for the UAV to fly along the inspection safety route starting from the starting waypoint until it reaches the safe entry waypoint.

[0113] Figure 4A Shows a schematic diagram of the specific steps for determining the UAV inspection transition route of a UAV inspection transition route planning method. Figure 4B Shows a schematic diagram of a demonstration screen for determining the UAV inspection transition route of a UAV inspection transition route planning method. In a possible implementation manner, according to the end inspection waypoint, starting waypoint, safe entry waypoint, and obstacle avoidance route, determining the UAV inspection transition route may include the following steps:

[0114] S7-1. Determine the first transition route according to the end inspection waypoint and the starting waypoint. Specifically, connect the end inspection waypoint and the starting waypoint to obtain the first transition route.

[0115] S7-2. Determine the second transition route according to the starting waypoint and the safe entry waypoint. Specifically, use the inspection safety route between the starting waypoint and the safe entry waypoint as the second transition route.

[0116] S7-3. Connect the first transition route, the second transition route, and the obstacle avoidance route in sequence to obtain the UAV inspection transition route.

[0117] In this example, as Figure 4B shown, through the first transition route determined by the end inspection waypoint and the starting waypoint, the second transition route determined by the starting waypoint and the safe entry waypoint, and the obstacle avoidance route determined by using the improved RRT algorithm, the above three routes are connected in sequence, and then the UAV inspection transition route between the end inspection waypoint of the inspection in the previous rough interval and the starting cruise point of the UAV precise inspection area is obtained.

[0118] Consistent with the above, please refer toFigure 5 , Figure 5 This is a schematic structural diagram of a device for planning a transition route for drone inspection provided by an embodiment of the present application. As Figure 5 shown, the device includes:

[0119] A first acquisition unit 100, configured to acquire the end inspection waypoint of the previous rough inspection route of the drone;

[0120] A second acquisition unit 200, configured to acquire the safe flight altitude, safe flight distance of the current device to be finely inspected, and the start inspection waypoint of the preset fine inspection route of the current device to be finely inspected;

[0121] A first processing unit 300, configured to determine the inspection safe route of the fine inspection device according to the safe flight altitude and the safe flight distance;

[0122] A second processing unit 400, configured to determine the starting waypoint according to the end inspection waypoint and the inspection safe route;

[0123] A third processing unit 500, configured to determine the safe entry waypoint according to the start inspection waypoint and the inspection safe route;

[0124] A determination unit 600, configured to determine the transition route for drone inspection according to the end inspection waypoint, the starting waypoint, the safe entry waypoint, and the obstacle avoidance route.

[0125] In a possible implementation manner, in the aspect of determining the inspection safe route of the fine inspection device according to the safe flight altitude and the safe flight distance, the first processing unit 300 includes:

[0126] Determine the safe flight plane according to the safe flight altitude.

[0127] Determine the safe flight range on the safe flight plane according to the safe flight distance.

[0128] Extract the edge contour of the safe flight range to obtain the inspection safe route.

[0129] In a possible implementation manner, in the aspect of determining the starting waypoint according to the end inspection waypoint and the inspection safe route, the second processing unit 400 is configured to:

[0130] Divide the inspection safe route into n sub-inspection safe routes.

[0131] Calculate the shortest distances between the n sub-inspection safe routes and the end inspection waypoint respectively to obtain n shortest distances.

[0132] Select the shortest one from the n shortest distances.

[0133] Select a corresponding sub-inspection safety route according to the shortest nearest distance to obtain a starting sub-inspection safety route.

[0134] Determine a starting waypoint according to the shortest nearest distance and the starting sub-inspection safety route.

[0135] In a possible implementation manner, in the aspect of determining the UAV inspection transition route according to the end inspection waypoint, the starting waypoint, the safe entry waypoint, and the obstacle avoidance route, the determining unit 600 is configured to:

[0136] Determine a first transition route according to the end inspection waypoint and the starting waypoint.

[0137] Determine a second transition route according to the starting waypoint and the safe entry waypoint.

[0138] Connect the first transition route, the second transition route, and the obstacle avoidance route in sequence to obtain the UAV inspection transition route.

[0139] Consistent with the above embodiment, please refer to Figure 6 , Figure 6 which is a schematic structural diagram of a terminal provided by an embodiment of the present application. As shown in the figure, it includes a processor, an input device, an output device, and a memory. The processor, the input device, the output device, and the memory are interconnected. Among them, the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions. The above program includes instructions for performing the following steps;

[0140] Obtain the end inspection waypoint of the previous rough UAV inspection route.

[0141] Obtain the safe flight altitude, the safe flight distance of the device to be finely inspected currently, and the starting inspection waypoint of the preset fine inspection route of the device to be finely inspected currently.

[0142] Determine the inspection safety route of the fine inspection device according to the safe flight altitude and the safe flight distance.

[0143] Determine a starting waypoint according to the end inspection waypoint and the inspection safety route.

[0144] Determine a safe entry waypoint according to the starting inspection waypoint and the inspection safety route.

[0145] Adopt an improved RRT algorithm to plan a route between the safe entry waypoint and the starting inspection waypoint to obtain an obstacle avoidance route.

[0146] Determine the UAV inspection transition route according to the end inspection waypoint, start waypoint, safe entry waypoint and obstacle avoidance route.

[0147] In this example, by obtaining the end inspection waypoint of the previous rough UAV inspection route, as well as the safe flight parameters of the equipment to be inspected in detail and the waypoints of the preset fine inspection route, a safe inspection route during UAV flight is generated. And by combining with the improved RRT algorithm, a transition route that takes into account both obstacle avoidance efficiency and path optimality is automatically generated, improving the safety of the UAV during transition flight between inspection areas, so as to solve the technical problem that the generation logic of the existing transition route has a low matching degree with the refined inspection requirements, and fails to fully integrate the dynamic environment constraints and equipment inspection parameters, resulting in potential safety hazards during the route transition.

[0148] The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process on the method side. It can be understood that in order for the terminal to implement the above functions, it includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combined with the units and algorithm steps of each example described in the embodiments provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0149] The embodiment of the present application can divide the functions of the terminal according to the above method examples. For example, each function unit can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of a software function unit. It should be noted that the division of units in the embodiment of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0150] The embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables the computer to execute some or all of the steps of any one of the UAV inspection transition route planning methods recorded in the above method embodiments.

[0151] The embodiment of the present application also provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program enables the computer to execute some or all of the steps of any one of the UAV inspection transition route planning methods recorded in the above method embodiments.

[0152] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be carried out in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0153] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0154] In several embodiments provided by this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0155] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0156] In addition, the functional units in the respective embodiments of the application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software program modules.

[0157] When the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on such understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. And the aforementioned memory includes: various media such as USB flash drives, read-only memories (ROM), random access memories (RAM), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0158] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable memory, and the memory can include: flash drives, read-only memories, random access memories, magnetic disks, or optical discs, etc.

[0159] The above has introduced the embodiments of this application in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation on this application.

Claims

1. A method for planning a transition route for drone inspection, characterized in that, Including: Obtain the end inspection waypoint of the previous rough inspection route of the drone; Obtain the safe flight altitude, safe flight distance of the device to be finely inspected currently, and the start inspection waypoint of the preset fine inspection route of the device to be finely inspected currently; Determine the inspection safe route of the fine inspection device according to the safe flight altitude and the safe flight distance; Determine the starting waypoint according to the end inspection waypoint and the inspection safe route; Determine the safe entry waypoint according to the start inspection waypoint and the inspection safe route; Adopt an improved RRT algorithm to plan the route between the safe entry waypoint and the start inspection waypoint to obtain an obstacle avoidance route; Determine the inspection transition route of the drone according to the end inspection waypoint, starting waypoint, safe entry waypoint and obstacle avoidance route.

2. The method for planning the transition route of drone inspection according to claim 1, wherein The determining the inspection safe route of the fine inspection device according to the safe flight altitude and the safe flight distance includes: Determine the safe flight plane according to the safe flight altitude; Determine the safe flight range on the safe flight plane according to the safe flight distance; Extract the edge contour of the safe flight range to obtain the inspection safe route.

3. The method for planning the transition route of the drone inspection according to claim 2, wherein The inspection safe route can be rectangular or circular.

4. The method for planning the transition flight path of the drone inspection according to claim 1, wherein The determining the starting waypoint according to the end inspection waypoint and the inspection safe route includes: Divide the inspection safe route into n sub-inspection safe routes; Calculate the nearest distances between the n sub-inspection safe routes and the end inspection waypoint respectively to obtain n nearest distances; Select the shortest nearest distance from the n nearest distances; Select the corresponding sub-inspection safe route according to the shortest nearest distance to obtain the starting sub-inspection safe route; Determine the starting waypoint according to the shortest nearest distance and the starting sub-inspection safe route.

5. The method for planning the transition route of drone inspection according to claim 1, wherein The determining the inspection transition route of the drone according to the end inspection waypoint, starting waypoint, safe entry waypoint and obstacle avoidance route includes: Determine the first transition route according to the end inspection waypoint and the starting waypoint; Determine the second transition route according to the starting waypoint and the safe entry waypoint; Connect the first transition route, the second transition route and the obstacle avoidance route in sequence to obtain the inspection transition route of the drone.

6. An unmanned aerial vehicle inspection transition route planning device, characterized in that, The device includes: The first acquisition unit is used to obtain the end inspection waypoint of the previous rough inspection route of the drone; The second acquisition unit is used to obtain the safe flight altitude, safe flight distance of the device to be finely inspected currently, and the start inspection waypoint of the preset fine inspection route of the device to be finely inspected currently; The first processing unit is used to determine the inspection safe route of the fine inspection device according to the safe flight altitude and the safe flight distance; The second processing unit is used to determine the starting waypoint according to the end inspection waypoint and the inspection safe route; The third processing unit is used to determine the safe entry waypoint according to the start inspection waypoint and the inspection safe route; The determination unit is used to determine the inspection transition route of the drone according to the end inspection waypoint, starting waypoint, safe entry waypoint and obstacle avoidance route.

7. The drone inspection transition route planning device according to claim 6, wherein, In the aspect of determining the inspection safe route of the fine inspection device according to the safe flight altitude and the safe flight distance, including: Determine a safe flight plane according to the safe flight altitude; Determine a safe flight range on the safe flight plane according to the safe flight distance; Extract the edge contour of the safe flight range to obtain an inspection safe flight route.

8. The drone inspection transition route planning device according to claim 6, characterized in that, In the aspect of determining the starting waypoint according to the end inspection waypoint and the inspection safe flight route, it includes: Divide the inspection safe flight route into n sub-inspection safe flight routes; Calculate the shortest distances between the n sub-inspection safe flight routes and the end inspection waypoint respectively to obtain n shortest distances; Select the shortest one from the n shortest distances; Select the corresponding sub-inspection safe flight route according to the shortest shortest distance to obtain the starting sub-inspection safe flight route; Determine the starting waypoint according to the shortest shortest distance and the starting sub-inspection safe flight route.

9. A terminal, characterized in that, It includes a processor, an input device, an output device and a memory. The processor, the input device, the output device and the memory are interconnected. Among them, the memory is used to store a computer program. The computer program includes program instructions. The processor is configured to call the program instructions to execute the unmanned aerial vehicle inspection transition route planning method according to any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the processor is caused to execute the unmanned aerial vehicle inspection transition route planning method according to any one of claims 1-5.

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