CN108253971A - A kind of method for inspecting and system - Google Patents
A kind of method for inspecting and system Download PDFInfo
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- CN108253971A CN108253971A CN201711497516.1A CN201711497516A CN108253971A CN 108253971 A CN108253971 A CN 108253971A CN 201711497516 A CN201711497516 A CN 201711497516A CN 108253971 A CN108253971 A CN 108253971A
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- region
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- inspection
- course line
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/22—Plotting boards
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The invention discloses a kind of method for inspecting and systems.This method includes：Operating area is treated in acquisition；It will treat that operating area is divided into multiple region of patrolling and examining；Flight course planning is carried out to each region of patrolling and examining respectively, obtains the course line of multiple region of patrolling and examining；Continuous inspection is carried out to multiple region of patrolling and examining according to course line.In this way, routing inspection efficiency can be improved.
Description
Technical field
The present embodiments relate to vehicle technology field, more particularly to a kind of method for inspecting and system.
Background technology
Aircraft is the equipment manipulated using radio robot and self-contained program's control device.Aircraft is in police at present
It is widely used with fields such as, city management, agricultural, geology, meteorology, rescue and relief works.Flight course planning refers to specific
Under constraints, a series of destinations are found, form a course line from takeoff point to terminal.It is the weight of the program-controlled flight of aircraft
Want one ring of key of flight preparation before component part and aircraft operation.
The present inventor has found in long-term research and development, more in operating area for treating in currently available technology
The region that a topography and geomorphology differs greatly, the multiple inspection of generally use complete entirely to treat the inspection of operation area, routing inspection efficiency compared with
It is low；And do not need to carry out the region (being referred to as clear area) of inspection for some treated in operation area, it does not avoid generally also, meeting
Aircraft is caused to carry out unnecessary inspection to these clear areas, expends unnecessary inspection resource, routing inspection efficiency is relatively low.
Invention content
The invention mainly solves the technical problem of providing a kind of method for inspecting and system, to improve routing inspection efficiency.
In order to solve the above technical problems, an embodiment of the present invention provides a kind of method for inspecting, this method includes：It obtains and waits to make
Industry region；It will treat that operating area is divided into multiple region of patrolling and examining；Flight course planning is carried out to each region of patrolling and examining respectively, is obtained multiple
The course line of region of patrolling and examining；Continuous inspection is carried out to multiple region of patrolling and examining according to course line.
Wherein, above-mentioned to carry out flight course planning to each region of patrolling and examining respectively, the course line for obtaining multiple region of patrolling and examining includes：Point
Other that single region flight course planning is carried out to each region of patrolling and examining, to obtain single region course line, single region course line includes at least inspection area
The inspection starting point in domain and inspection terminal；Interregional course line rule are carried out to multiple region of patrolling and examining according to inspection starting point and inspection terminal
It draws, to obtain the interregional course line between multiple region of patrolling and examining；Multiple inspections are obtained according to single region course line and interregional course line
The course line in region.
Wherein, it is above-mentioned that interregional flight course planning is carried out to multiple region of patrolling and examining according to inspection starting point and inspection terminal, to obtain
The interregional course line between multiple region of patrolling and examining is taken to include：Multiple region of patrolling and examining are carried out most according to inspection starting point and inspection terminal
Short flight course planning；The course line that multiple region of patrolling and examining are obtained according to single region course line and interregional course line includes：It is navigated according to single region
Line and Minimal Flight Path obtain the course line of multiple region of patrolling and examining.
Wherein, it is above-mentioned that the continuous inspection of multiple region of patrolling and examining progress is included according to course line：According to single region course line to most short
A upper region of patrolling and examining in course line carries out inspection；According to Minimal Flight Path from the inspection terminal inspection of a upper region of patrolling and examining to most short
The inspection starting point of next region of patrolling and examining in course line；Inspection is carried out to next region of patrolling and examining according to single region course line.
Wherein, after operating area is treated in above-mentioned acquisition, it is above-mentioned will treat operating area be divided into multiple region of patrolling and examining it
Take a step forward including：Obtain the provincial characteristics for treating operating area；It will treat that operating area is divided into multiple region of patrolling and examining and includes：According to
Provincial characteristics will treat that operating area is divided into multiple region of patrolling and examining；Wherein, provincial characteristics is region height, region direction or region
Any one in characteristics of image.
Wherein, it is above-mentioned according to course line to multiple region of patrolling and examining carry out continuous inspection when, obtain aircraft course angle and/
Or flying height；According to course angle and/or flying height update course line.
In order to solve the above technical problems, the embodiment of the present invention additionally provides a kind of cruising inspection system, which includes boat
Line device for planning and aircraft, wherein flight course planning device include：Region acquisition module treats operating area for obtaining；Region
Division module, for that will treat that operating area is divided into multiple region of patrolling and examining；Flight course planning module, for respectively to each inspection area
Domain carries out flight course planning, obtains the course line of multiple region of patrolling and examining；Aircraft is used to connect multiple region of patrolling and examining according to course line
Continuous inspection.
Wherein, above-mentioned flight course planning module includes：First flight course planning unit, for being carried out respectively to each region of patrolling and examining
Single region flight course planning, to obtain single region course line, single region course line includes at least the inspection starting point of region of patrolling and examining and inspection end
Point；Second flight course planning unit, for carrying out interregional course line rule to multiple region of patrolling and examining according to inspection starting point and inspection terminal
It draws, to obtain the interregional course line between multiple region of patrolling and examining；Airline generation unit, for according to single region course line and interregional
Course line obtains the course line of multiple region of patrolling and examining.
Wherein, the second flight course planning unit carries out Minimal Flight Path according to inspection starting point and inspection terminal to multiple region of patrolling and examining
Planning, to obtain the interregional course line between multiple region of patrolling and examining；Airline generation unit is according to single region course line and Minimal Flight Path
Obtain the course line of multiple region of patrolling and examining.
Wherein, above-mentioned aircraft carries out inspection according to single region course line to a upper region of patrolling and examining for Minimal Flight Path；According to
The inspection starting point of next region of patrolling and examining of the Minimal Flight Path from the inspection terminal inspection of a upper region of patrolling and examining to Minimal Flight Path；Root
Inspection is carried out to next region of patrolling and examining according to single region course line.
The beneficial effects of the invention are as follows：The prior art is different from, a kind of method for inspecting provided by the present invention includes：It obtains
Treat operating area；It will treat that operating area is divided into multiple region of patrolling and examining；Flight course planning is carried out to each region of patrolling and examining respectively, is obtained
The course line of multiple region of patrolling and examining；Continuous inspection is carried out to multiple region of patrolling and examining according to course line.In this way, can will have
The region division of different characteristic can set aircraft according to different region of patrolling and examining different fly into different region of patrolling and examining
Row parameter, and according to the course line of the present embodiment, continuous inspection can be carried out to multiple region of patrolling and examining, therefore, it is possible to improve inspection
Efficiency.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the flow diagram of method for inspecting first embodiment of the present invention；
Fig. 2 is a structure diagram for treating operation area in the present invention；
Fig. 3 is the flow diagram of the step S102 of Fig. 1 embodiment method for inspecting；
Fig. 4 is the flow diagram of the step S303 of Fig. 3 embodiment method for inspecting；
Fig. 5 is the flow diagram of the step S103 of Fig. 1 embodiment method for inspecting；
Fig. 6 is the flow diagram of the step S104 of Fig. 1 embodiment method for inspecting；
Fig. 7 is structure diagram of Fig. 2 embodiments after the marginalisation of operation area；
Fig. 8 is the flow diagram of method for inspecting second embodiment of the present invention
Fig. 9 is the structure diagram of one embodiment of cruising inspection system of the present invention；
Figure 10 is the structure diagram for one embodiment of device that the present invention has store function.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Before flight course planning is carried out to aircraft, need first to determine to treat operating area, treat operating area often basis
The band of aircraft carries the parameters such as resource, flight time, cruising ability, control range and patrol task and determines.With aircraft skill
The continuous development of art, the work capacity of aircraft are constantly being promoted, and treat that operating area is also constantly expanding, i.e., an inspection is with regard to energy
The inspection work that more large area treats operating area is completed, but large area treats that often there are multiple topography and geomorphologies in operating area
The region to differ greatly, different topography and geomorphologies have the flight parameter of aircraft treating for different requirements or large area
The region of inspection can not be needed to carry out in operating area there are some, therefore, to improve the routing inspection efficiency of aircraft, the present invention carries
A kind of method for inspecting is gone out, to improve the efficiency of flight course planning and aircraft inspection, specifically, as shown in Figure 1, Fig. 1 is this hair
The flow diagram of bright method for inspecting first embodiment.The present embodiment method for inspecting includes the following steps：
S101：Operating area is treated in acquisition.
This treats that operating area is that aircraft needs to carry out the region of inspection, such as region etc. of photovoltaic plant covering, one
Photovoltaic plant often covers subregion or the multiple subregions with different terrain geomorphic feature of covering at multiple intervals etc.
Deng.
S102：It will treat that operating area is divided into multiple region of patrolling and examining.
To avoid carrying out interval region unnecessary inspection or improving to multiple with different terrain geomorphic feature
The routing inspection efficiency in region, needs to treat operating area and is divided.For example, covered above-mentioned photovoltaic plant according to interval region
Region division is into multiple region of patrolling and examining or the region division for being covered above-mentioned photovoltaic plant according to different topography and landform characters
Into multiple region of patrolling and examining.
Wherein, the method for the present embodiment can obtain the provincial characteristics for treating operation area, and root after above-mentioned steps S101
Operation area is treated according to the provincial characteristics to be divided.The provincial characteristics is to treat the region height of operation area, region direction or region
Any one in characteristics of image, wherein, which can characterize arrangement situation of examined in determination in region etc..
In an application scenarios, as shown in Figures 2 and 3, the present embodiment will treat that operating area 201 is drawn using following methods
It is divided into multiple region of patrolling and examining (figure is not marked), flight course planning and inspection is carried out to avoid to interval region (figure is not marked), specifically, this
The method of embodiment includes the following steps：
S301：It will treat that operating area 201 is divided into multiple subregions 202.
Specifically, the dividing mode of the unlimited stator region 202 of the present embodiment can will treat operating area 201 according to grid
Model splits are waited into multiple nonoverlapping subregions 202.The form and dimension of the grid can be according to flight course planning precision and tool
Patrol task of body etc. determines.For example, it can determine sub-district according to N times of the pixel unit for the administrative division map for treating operation area 201
The size in domain 202, wherein, N is more than 1.The area of the subregion 202 of division is smaller, and flight course planning precision is higher, but flight course planning
Efficiency may decline.
S302：The provincial characteristics of multiple subregions 202 is extracted respectively.
Wherein, the provincial characteristics of the present embodiment includes at least the characteristics of image of the administrative division map of subregion 202, the characteristics of image
Including at least one kind in color characteristic or textural characteristics.The administrative division map includes but not limited to planning chart, take photo by plane figure or satellite mapping.
S303：Multiple subregions 202 are divided by 203 or second class region 204 of first kind region according to provincial characteristics.
Treat that the different zones in operating area 201 often show different colors and textural characteristics, for example, city is navigated
The color and textural characteristics of Pai Tuzhong streets region and construction zone are different, in the task to traffic conditions inspection, not
It needs to carry out inspection to building, it is therefore necessary to distinguish in street region with construction zone, to avoid to building area
Domain carries out flight course planning and inspection；High mountain region again for example in satellite mapping is different from the color and textural characteristics of river region,
Photovoltaic plant is generally positioned on high mountain region, in the task of inspection is carried out to photovoltaic plant, is not needed to river region
Inspection is carried out, therefore, it is necessary to which high mountain region is distinguished with river region, flight course planning is carried out to avoid to river region
And inspection, etc..
Specifically, first kind region 203 and the second class region 204 are divided when being used as using color characteristic as characteristics of image
When, subregion 202 can be made to include multiple pixel units, the color characteristic of pixel unit in then extracting per sub-regions 202,
And the color characteristic of subregion 202 is represented in three respective average values of component of a color space with subregion 202 or built
Vertical three color histograms, color matrixes etc. represent the color characteristic of subregion 202, then judge the color characteristic and threshold value
Subregion 202 if the color characteristic is more than the threshold value, is divided into first kind region 203, otherwise, by subregion 202 by size
It is divided into the second class region 204.It is, of course, also possible to the threshold value is replaced using threshold range, so that the color in first kind region 203
The color characteristic in feature or the second class region 204 includes the big situation of difference comparsion, because the color in first kind region 203 is special
Sign is likely located between two color characteristics in the second class region 204, for example, the color characteristic of greening region is located at building
It, can be by greenbelt when carrying out inspection to greening region between the color characteristic of object area and street region color feature
Region division is first kind region 203, is the second class region 204 by construction zone and street region division.
Textural characteristics texture refers to exist in the image shape very little, half period property in a certain range or regularly
The pattern of arrangement.When using textural characteristics as characteristics of image, uniformity that can be by the texture for judging administrative division map, fineness
And subregion 202 is divided into 203 or second class region 204 of first kind region by the features such as roughness.Specific method with it is above-mentioned
The method that 203 and second class region 204 of first kind region is divided using color characteristic as characteristics of image is similar, does not go to live in the household of one's in-laws on getting married here
It states.
S304：203 or second class region 204 of first kind region is set as region of patrolling and examining according to instruction is chosen.
Specifically, the selection of the region of patrolling and examining of the present embodiment such as carries out inspection depending on patrol task to mountains and rivers region
When, high mountain region has been divided into first kind region 203 using the above method, by river Division for the second class region 204,
If patrol task is to carry out inspection to water quality of river or water transportation, 203 conduct of first kind region is chosen according to choosing to instruct
If patrol task is the carry out inspection to vegetation or photovoltaic plant, the second class region is chosen according to choosing to instruct for region of patrolling and examining
204 are used as region of patrolling and examining.
The selection instruction of the present embodiment can be generated according to patrol task automatic identification or grasped according to user
Make what is generated, do not limit specifically.
Wherein, region of patrolling and examining includes at least two sub-regions 202.
Specifically, referring to Fig. 4, Fig. 4 is the specific flow diagrams of step S303 of Fig. 3 embodiment method for inspecting.This
The method of embodiment specifically includes：
S401：Calculate the difference between the provincial characteristics of two adjacent subregions 202.
S402：Judge whether difference is more than preset value, if it is not, then carrying out step S403.
S403：It is 203 or second class region 204 of first kind region by two adjacent sub-zone dividings.
Wherein, the first kind region 203 of the present embodiment is region of patrolling and examining, and the second class region 204 is interval region.
It will treat that operation area 201 has been divided into multiple region of patrolling and examining and interval region by above-described embodiment method for inspecting.When
So, in other embodiments, operating area 201 can also be treated according to provincial characteristics such as the gradient, height to be divided.
S103：Flight course planning is carried out to each region of patrolling and examining respectively, obtains the course line of multiple region of patrolling and examining.
Specifically, above-mentioned steps S103 can be realized by following methods, as shown in Figure 5：
S501：Single region flight course planning is carried out to each region of patrolling and examining respectively, to obtain single region course line, single region course line
Including at least the inspection starting point of region of patrolling and examining and inspection terminal.
Specifically, the present embodiment method may be used zigzag course planing method and single region course line rule carried out to region of patrolling and examining
It draws：First, first coordinate value of at least three vertex of region of patrolling and examining in the first reference axis is obtained and in the second reference axis
The second coordinate value；Then, according between the adjacent vertex of first coordinate value at least three vertex and the calculating of the second coordinate value
The line segment equation of line；Next, selecting a basic point from multiple vertex, and it is parallel to according to pre-set course line spacing edge
The direction of first reference axis translates basic point, then, calculates the basic point after translation and is parallel to the second reference axis
The intersection point of straight line and two lines section equation, and the starting point and terminal in the course line to be planned as region of patrolling and examining；Finally, by inspection area
The starting point and terminal in each course line in domain join end to end, and to form zigzag course, the starting point and terminal of the zigzag course are inspection area
The inspection starting point in domain and inspection terminal.Certainly, in other embodiments, other method for inspecting may be used and complete region of patrolling and examining
Single region flight course planning, do not limit specifically.
S502：Interregional flight course planning is carried out to multiple region of patrolling and examining according to inspection starting point and inspection terminal, it is more to obtain
Interregional course line between a region of patrolling and examining.
Wherein, the method for the present embodiment carries out Minimal Flight Path rule according to inspection starting point and inspection terminal to multiple region of patrolling and examining
It draws：First, the inspection starting point of first region of patrolling and examining in Minimal Flight Path, the inspection terminal of the last one region of patrolling and examining and every are obtained
The inspection starting point of a region of patrolling and examining and the midpoint of inspection terminal.The present embodiment is using the inspection starting point of region of patrolling and examining and inspection terminal
The connectivity points of tie point of the midpoint as region of patrolling and examining between line, i.e. Minimal Flight Path planning.Certainly, in other embodiments,
Other points of region of patrolling and examining, such as the connection as region of patrolling and examining such as region midpoint (not shown) of region of patrolling and examining can also be used
Point；Minimal Flight Path between each region of patrolling and examining connectivity points is obtained using ant group algorithm.
Specifically, following operate is performed to every generation ant colony successively：Using ant group algorithm, according between any two midpoint
Select course probability and setting time threshold, determine the whole course line that every ant creeps in the former generation ant colony；It calculates
When the value of utility in whole course line that every ant creeps in former generation ant colony, and determine when value of utility is maximum at least in former generation ant colony
One whole course line；Until reaching the setting condition of convergence, then stop performing operation to next-generation ant colony；It obtains in each generation ant colony really
The maximum at least one whole course line of fixed value of utility, using as Minimal Flight Path.Can being connected quick obtaining by the above method more
Most short connection course line between logical point.
What the most short connection course line between the multiple connectivity points of the present embodiment showed is the inspection sequence of multiple region of patrolling and examining.
Certainly, in other embodiments, other least distance programing methods may be used to substitute ant group algorithm, example
Such as, Prime algorithms and Kruskal algorithms etc..
S503：The course line of multiple region of patrolling and examining is obtained according to single region course line and section course line.
Wherein, the method for the present embodiment obtains the course line of multiple region of patrolling and examining according to single region course line and Minimal Flight Path.
S104：Continuous inspection is carried out to multiple region of patrolling and examining according to course line.
Specifically, as shown in FIG. 6 and 7, above-mentioned steps S104 can be realized by following methods：
S601：Inspection is carried out to a upper region of patrolling and examining for Minimal Flight Path according to single region course line.
It will treat that operation area 201 is divided into multiple region of patrolling and examining 203 by the above method, shown in Fig. 7 embodiments is
Operation area 201 is treated in marginalisation.Inspection is carried out to 701 corresponding region of patrolling and examining 203 of inspection terminal first.
S602：According to next inspection of the Minimal Flight Path from the inspection terminal inspection of a upper region of patrolling and examining to Minimal Flight Path
The inspection starting point in region.
According to obtaining next region of patrolling and examining 203 for needing to carry out inspection in the Minimal Flight Path of above-mentioned acquisition, and from inspection
701 inspection of terminal to it is next need carry out inspection region of patrolling and examining 203 inspection starting point 702.
S603：Inspection is carried out to next region of patrolling and examining according to single region course line.
Inspection is carried out to next region of patrolling and examining 203 according to single region course line of next region of patrolling and examining 203.Class successively
It pushes away, you can realize the continuous inspection of multiple region of patrolling and examining 203.
The present embodiment realizes flight course planning by above-mentioned steps S101-S103, and aircraft is realized by above-mentioned steps S104
Inspection.
The prior art is different from, the present embodiment method for inspecting can patrol the region division with different characteristic into different
Region is examined, can different flight parameters set aircraft, and can be to multiple region of patrolling and examining according to different region of patrolling and examining
Continuous inspection is carried out, therefore, it is possible to improve routing inspection efficiency.
Present invention further propose that the method for inspecting of second embodiment, as shown in figure 8, the present embodiment is in above-described embodiment
On the basis of further comprise：
S801：When carrying out continuous inspection to multiple region of patrolling and examining according to course line, obtain the course angle of aircraft and/or fly
Row height.
S802：According to course angle and/or flying height update course line.
The present embodiment can improve inspection precision by the course line of real-time update aircraft.
Referring to Fig. 9, Fig. 9 is the structure diagram of one embodiment of cruising inspection system of the present invention.The present embodiment cruising inspection system 901
Including flight course planning device 902 and aircraft 903, wherein, flight course planning device 902 includes：Region acquisition module 904, region
Division module 905 and flight course planning module 906, region acquisition module 904 treat operating area, region division module for obtaining
905 for that will treat that operating area is divided into multiple region of patrolling and examining, flight course planning module 906 for respectively to each region of patrolling and examining into
Row flight course planning obtains the course line of multiple region of patrolling and examining；Aircraft 903 is used to carry out multiple region of patrolling and examining according to course line continuous
Inspection.
The region division module 905 of the present embodiment can divide it according to the provincial characteristics for treating operation area, the area
Characteristic of field is any one in the region height for treating operation area, region direction or area image feature.
Wherein, the flight course planning module 906 of the present embodiment includes the first flight course planning unit 907, the second flight course planning list
Member 908 and airline generation unit 909, the first flight course planning unit 907 navigate for carrying out single region to each region of patrolling and examining respectively
Line gauge is drawn, and to obtain single region course line, single region course line includes at least the inspection starting point of region of patrolling and examining and inspection terminal, the second boat
Line planning unit 908 is used to carry out interregional flight course planning to multiple region of patrolling and examining according to inspection starting point and inspection terminal, to obtain
The interregional course line between multiple region of patrolling and examining is taken, airline generation unit 909 is used for according to single region course line and interregional course line
Obtain the course line of multiple region of patrolling and examining.
The methods of first flight course planning unit 907 of the present embodiment can be planned by zigzag course realizes the boat in single region
Line gauge is drawn.
Specifically, the second flight course planning unit 908 of the present embodiment according to inspection starting point and inspection terminal to multiple inspections
Region carries out Minimal Flight Path planning, to obtain the interregional course line between multiple region of patrolling and examining；Airline generation unit 909 is according to list
Region course line and Minimal Flight Path obtain the course line of multiple region of patrolling and examining.
The second flight course planning unit 908 of the present embodiment can pass through ant group algorithm, Prime algorithms and Kruskal algorithms
Deng the Minimal Flight Path realized between multiple region of patrolling and examining.
Optionally, the present embodiment cruising inspection system still further comprises update module (not shown), in aircraft 903 to multiple
When region of patrolling and examining carries out continuous inspection, the course angle and/or flying height of aircraft are obtained, and according to course angle and/or flight
Course line is highly updated, to improve course line precision, improves the inspection precision of aircraft 903.
The detailed method of work of the present embodiment cruising inspection system has carried out detailed chat in above method embodiment
It states, does not repeat here.
The prior art is different from, the present embodiment cruising inspection system 901 will treat that operation area is divided by region division module 904
Multiple region of patrolling and examining can set aircraft 903 different flight parameters, and give birth to according to course line according to different region of patrolling and examining
The course line generated into unit 909 can carry out continuous inspection, therefore, 901 energy of the present embodiment cruising inspection system to multiple region of patrolling and examining
Enough improve the routing inspection efficiency of aircraft 903.
A kind of method for inspecting disclosed by the invention and system can be applied to police, city management, agricultural, geology, meteorology,
The aerial inspections of the electric power stations such as rescue and relief work, photovoltaic plant, photo-thermal power station, wind power station, monitoring etc..
Referring to Fig. 10, Figure 10 is the structure diagram for one embodiment of device that the present invention has store function.This implementation
Have program stored therein data 1002 on example device 1001, which is performed the step realized in above method embodiment.
The prior art is different from, method for inspecting of the present invention and system, the device with store function can improve aircraft
Routing inspection efficiency.
The foregoing is merely embodiments of the present invention, are not intended to limit the scope of the invention, every to utilize this
It is relevant to be directly or indirectly used in other for the equivalent structure or equivalent flow shift that description of the invention and accompanying drawing content are made
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of method for inspecting, which is characterized in that the method includes：
Operating area is treated in acquisition；
Treat that operating area is divided into multiple region of patrolling and examining by described；
Flight course planning is carried out to each region of patrolling and examining respectively, obtains the course line of the multiple region of patrolling and examining；
Continuous inspection is carried out to the multiple region of patrolling and examining according to the course line.
2. according to the method described in claim 1, it is characterized in that, described carry out course line rule to each region of patrolling and examining respectively
It draws, the course line for obtaining the multiple region of patrolling and examining includes：
Single region flight course planning is carried out to each region of patrolling and examining respectively, to obtain single region course line, the list region course line
Including at least the inspection starting point of the region of patrolling and examining and inspection terminal；
Interregional flight course planning is carried out to multiple region of patrolling and examining according to the inspection starting point and inspection terminal, it is multiple to obtain
Interregional course line between the region of patrolling and examining；
The course line of the multiple region of patrolling and examining is obtained according to single region course line and the interregional course line.
3. according to the method described in claim 2, it is characterized in that, it is described according to the inspection starting point and inspection terminal to multiple
The region of patrolling and examining carries out interregional flight course planning, is included with obtaining the interregional course line between multiple region of patrolling and examining：
Minimal Flight Path planning is carried out to multiple region of patrolling and examining according to the inspection starting point and inspection terminal；
The course line for obtaining the multiple region of patrolling and examining according to single region course line and the interregional course line includes：
The course line of the multiple region of patrolling and examining is obtained according to single region course line and the Minimal Flight Path.
4. according to the method described in claim 3, it is characterized in that, it is described according to the course line to the multiple region of patrolling and examining into
The continuous inspection of row includes：
Inspection is carried out to upper one region of patrolling and examining of the Minimal Flight Path according to single region course line；
According to the Minimal Flight Path from the inspection terminal inspection of the upper region of patrolling and examining to the Minimal Flight Path
Next region of patrolling and examining the inspection starting point；
Inspection is carried out to next region of patrolling and examining according to single region course line.
5. according to the method described in claim 1, it is characterized in that, it is described acquisition treat operating area after, described by institute
It states and treats that operating area further comprises before being divided into multiple region of patrolling and examining：
The provincial characteristics of operating area is treated described in acquisition；
It is described to treat that operating area is divided into multiple region of patrolling and examining and includes by described：
Treat that operating area is divided into multiple region of patrolling and examining by described according to the provincial characteristics；
Wherein, the provincial characteristics is any one in region height, region direction or area image feature.
6. according to the method described in claim 4, it is characterized in that, the method further includes：
It is described according to the course line to the multiple region of patrolling and examining carry out continuous inspection when, obtain aircraft course angle and/
Or flying height；
The course line is updated according to the course angle and/or flying height.
7. a kind of cruising inspection system, which is characterized in that the cruising inspection system includes flight course planning device and aircraft, wherein the boat
Line device for planning includes：
Region acquisition module treats operating area for obtaining；
Region division module, for treating that operating area is divided into multiple region of patrolling and examining by described；
Flight course planning module for carrying out flight course planning to each region of patrolling and examining respectively, obtains the multiple region of patrolling and examining
Course line；
The aircraft is used to carry out continuous inspection to the multiple region of patrolling and examining according to the course line.
8. system according to claim 7, which is characterized in that the flight course planning module includes：
First flight course planning unit, for carrying out single region flight course planning to each region of patrolling and examining respectively, to obtain single area
Domain course line, the list region course line include at least the inspection starting point of the region of patrolling and examining and inspection terminal；
Second flight course planning unit, for carrying out region to multiple region of patrolling and examining according to the inspection starting point and inspection terminal
Between flight course planning, to obtain the interregional course line between multiple region of patrolling and examining；
Airline generation unit, for obtaining the multiple region of patrolling and examining according to single region course line and the interregional course line
Course line.
9. system according to claim 8, which is characterized in that
The second flight course planning unit carries out multiple region of patrolling and examining according to the inspection starting point and inspection terminal most short
Flight course planning, to obtain the interregional course line between multiple region of patrolling and examining；
Airline generation unit obtains the course line of the multiple region of patrolling and examining according to single region course line and the Minimal Flight Path.
10. system according to claim 9, which is characterized in that the aircraft is according to single region course line to described
Upper one region of patrolling and examining of Minimal Flight Path carries out inspection；According to the Minimal Flight Path from the upper region of patrolling and examining
The inspection terminal inspection to the Minimal Flight Path next region of patrolling and examining the inspection starting point；According to the list
Region course line carries out inspection to next region of patrolling and examining.
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