CN111536977A - Unmanned aerial vehicle inspection route planning method and related device - Google Patents
Unmanned aerial vehicle inspection route planning method and related device Download PDFInfo
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/30—Interpretation of pictures by triangulation
- G01C11/34—Aerial triangulation
Abstract
The application discloses a method and a related device for planning an inspection route of an unmanned aerial vehicle, wherein the method comprises the following steps: based on a triangular proportion principle, calculating according to the side length of a CMOS (complementary metal oxide semiconductor) of a preset camera, the focal length of the preset camera and the included angle of the preset camera to obtain the field angle shot by the camera; calculating the field span of each shooting point on the ground according to the field angle and the preset shooting height; obtaining the width of the navigation band according to the preset lateral overlapping degree, the field span and the preset shooting height; and drawing a snakelike flight path of the unmanned aerial vehicle for inspection by using the distance from the tower and the width of the flight band, which are obtained according to the width of the flight band. The unmanned aerial vehicle inspection route has the advantages that the problem that an existing unmanned aerial vehicle inspection route is not accurate enough, the unmanned aerial vehicle is not beneficial to reasonable utilization, and the collected data quality is affected is solved.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle inspection, in particular to an unmanned aerial vehicle inspection route planning method and a related device.
Background
The unmanned aerial vehicle adopts the oblique photogrammetry technique to utilize multiple sensors to acquire data from different angles, efficiently and quickly acquires mass data, truly reflects the conditions of the underground tower and meets the information requirement of three-dimensional modeling. In the aspect of application in the aspect of city management, a three-dimensional entity model of the current city situation can be quickly established, and the method can flexibly adapt to city aerial photography and effectively improve the efficiency of city modeling aiming at different shooting areas; meanwhile, through the continuous updating of the oblique photogrammetry technical data, better management basis can be better provided for the digital city. The unmanned aerial vehicle point cloud platform has been widely applied to electric power inspection, and the position of shaft tower is confirmed through the data of point cloud collection, and present point cloud has become one of many fields common data sources such as photogrammetry and remote sensing, computer vision, machine learning, and the method of common point cloud collection has: and a GPS, a total station acquisition method and a direct station setting method are matched. However, point cloud information extraction research is still in a development stage, and a plurality of problems exist, for example, during the inspection of an unmanned aerial vehicle, accurate three-dimensional modeling cannot be carried out on a pole tower due to the fact that accurate data cannot be acquired, so that inspection is easy to collide with the tower, and inspection efficiency is low; and the acquired air route is not accurate enough, so that the integrity of the acquired data is influenced, or a large amount of redundant data is generated, thereby not only wasting manpower arrangement, but also increasing the flight times and wasting material resources.
Disclosure of Invention
The application provides an unmanned aerial vehicle inspection route planning method and a related device, which are used for solving the technical problems that the existing unmanned aerial vehicle inspection route is not accurate enough, the reasonable utilization of the unmanned aerial vehicle is not facilitated, and the acquired data quality is affected.
In view of this, the first aspect of the present application provides a method for planning an inspection route of an unmanned aerial vehicle, including:
based on a triangular proportion principle, calculating according to the side length of a CMOS (complementary metal oxide semiconductor) of a preset camera, the focal length of the preset camera and the included angle of the preset camera to obtain the field angle shot by the camera;
calculating the field span of each shooting point on the ground according to the field angle and the preset shooting height;
obtaining the width of the navigation band according to the preset lateral overlapping degree, the field span and the preset shooting height;
and drawing a snake-shaped flight route of the unmanned aerial vehicle for inspection by utilizing the distance from the tower obtained according to the width of the flight band and the width of the flight band.
Preferably, the preset shooting height configuration process is as follows:
calculating the preset shooting height of the camera of the unmanned aerial vehicle from the ground according to a preset navigation height formula, wherein the preset navigation height formula is as follows:
H＝f*GSD/α；
where f is the focal length of the camera, GSD is the ground resolution of the image, and α is the pixel size.
Preferably, the calculating the field span of each shooting point on the ground according to the field angle and the preset shooting height includes:
calculating to obtain a front included angle and a rear included angle of each shooting point according to the field angle;
calculating the field span of each shooting point on the ground by adopting a preset span formula according to the front included angle, the rear included angle and the preset shooting height, wherein the preset span formula is as follows:
and H is the preset shooting height, Front is the Front included angle, and Back is the Back included angle.
Preferably, the obtaining the flight band width according to the preset sidewise overlap, the field span and the preset shooting height includes:
calculating a ground overlap span according to the preset lateral overlap and the field span;
and calculating the width of the navigation band through the ground overlapping span and the preset shooting height.
The application second aspect provides an unmanned aerial vehicle patrols and examines airline planning device, includes:
the first calculation module is used for calculating and obtaining the field angle shot by the camera according to the preset camera CMOS side length, the preset camera focal length and the preset camera included angle based on the triangle proportion principle;
the second calculation module is used for calculating the field span of each shooting point on the ground according to the field angle and the preset shooting height;
the third calculation module is used for calculating the width of the navigation band according to the preset sidewise overlapping degree, the view field span and the preset shooting height;
and the route drawing module is used for drawing the snake-shaped flight route of the unmanned aerial vehicle inspection according to the distance from the tower obtained according to the flight band width and the flight band width.
Preferably, the preset shooting height configuration process is as follows:
calculating the preset shooting height of the camera of the unmanned aerial vehicle from the ground according to a preset navigation height formula, wherein the preset navigation height formula is as follows:
H＝f*GSD/α；
where f is the focal length of the camera, GSD is the ground resolution of the image, and α is the pixel size.
Preferably, the second calculation module includes:
the included angle calculation submodule is used for calculating and obtaining a front included angle and a rear included angle of each shooting point according to the field angle;
the view field calculation submodule is used for calculating the view field span of each shooting point on the ground by adopting a preset span formula according to the front included angle, the rear included angle and the preset shooting height, and the preset span formula is as follows:
and H is the preset shooting height, Front is the Front included angle, and Back is the Back included angle.
Preferably, the third computing module comprises:
the overlap calculation submodule is used for calculating the ground overlap span according to the preset sidewise overlap degree and the view field span;
and the flight band calculation submodule is used for calculating the width of the flight band through the ground overlapping span and the preset shooting height.
The third aspect of the application provides an unmanned aerial vehicle patrols and examines airline planning equipment, equipment includes processor and memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute any one of the unmanned aerial vehicle inspection route planning methods of the first aspect according to instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for executing the method for planning routes for patrol of unmanned aerial vehicles according to any one of the first aspect.
According to the technical scheme, the embodiment of the application has the following advantages:
in the application, an unmanned aerial vehicle inspection route planning method is provided, which comprises the following steps: based on a triangular proportion principle, calculating according to the side length of a CMOS (complementary metal oxide semiconductor) of a preset camera, the focal length of the preset camera and the included angle of the preset camera to obtain the field angle shot by the camera; calculating the field span of each shooting point on the ground according to the field angle and the preset shooting height; obtaining the width of the navigation band according to the preset lateral overlapping degree, the field span and the preset shooting height; and drawing a snakelike flight path of the unmanned aerial vehicle for inspection by using the distance from the tower and the width of the flight band, which are obtained according to the width of the flight band.
According to the unmanned aerial vehicle inspection route planning method, the camera intrinsic parameters of the unmanned aerial vehicle and the setting parameters required by shooting are used as the reference, the reliable and accurate unmanned aerial vehicle inspection route is planned through scientific calculation, and the uniformity of the collected data can be guaranteed to the greatest extent; the width of the flight band can ensure that the unmanned aerial vehicle can reduce the overlapping of shooting when acquiring complete and unified data, so that the unmanned aerial vehicle can be reasonably used for patrol, and the distance from the tower can ensure that the unmanned aerial vehicle can acquire data in a safe distance, thereby avoiding collision. Therefore, the unmanned aerial vehicle inspection route that can solve current unmanned aerial vehicle and patrol and examine the airline accurate inadequately, not only is unfavorable for unmanned aerial vehicle's rational utilization, still leads to the technical problem that the data quality of gathering receives the influence.
Drawings
Fig. 1 is a schematic flow chart of a method for planning an inspection route of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is another schematic flow chart of a method for planning an inspection route of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle inspection route planning device provided in the embodiment of the present application;
fig. 4 is a schematic diagram of a triangular scale principle of camera shooting of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 5 is a schematic diagram of shooting of a single camera at two adjacent shooting points according to an embodiment of the present application;
fig. 6 is a snakelike flight path schematic diagram of unmanned aerial vehicle inspection provided by the embodiment of the application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For convenience of understanding, please refer to fig. 1, a first embodiment of a method for planning an unmanned aerial vehicle patrol route provided by the present application includes:
and step 101, calculating to obtain the field angle shot by the camera according to the preset camera CMOS side length, the preset camera focal length and the preset camera included angle based on the triangle proportion principle.
It should be noted that the triangle proportion principle refers to that the corresponding side lengths of similar triangles are proportional, and the size of the angle of field shot by the camera can be calculated according to two constructed similar triangles by presetting the shooting included angle of the unmanned aerial vehicle according to the selected fixed parameters of the CMOS side length of the camera of the unmanned aerial vehicle and the preset camera focal length.
And 102, calculating the field span of each shooting point on the ground according to the field angle and the preset shooting height.
It should be noted that there are many shooting points, and the field span of each shooting point is consistent under the condition of certain parameters, similar to the parameters of a camera, shooting height, etc.; according to common knowledge, the smaller the preset shooting height is, the higher the ground resolution is, and the smaller the field span is.
And 103, obtaining the width of the navigation band according to the preset lateral overlapping degree, the field span and the preset shooting height.
It should be noted that the preset lateral overlapping degree is for two adjacent shooting points, that is, the overlapping width percentage of the shooting spans of the two adjacent shooting points, and the parameter is defined by summarizing a large number of unmanned aerial vehicles in the process of routing inspection, which is equivalent to historical experimental data, and is set to be generally most appropriate between 8% and 90%; reasonable side overlap degree of predetermineeing can obtain more accurate air belt width, can avoid the overlap ratio too big condition that causes the data redundancy of gathering like this, can avoid the too big problem of unmanned aerial vehicle work consumption again.
And 104, drawing a snake-shaped flight path of the unmanned aerial vehicle inspection by using the distance from the tower and the width of the flight band, which are obtained according to the width of the flight band.
It should be noted that, the distance from the tower and the width of the flight band have a certain relationship, and can be directly obtained according to the width of the flight band; more accurate and unified data can be gathered to the air belt width, and rationalize and carry out data acquisition, and can be that unmanned aerial vehicle remains throughout at the safe distance within range apart from the tower distance, avoid unmanned aerial vehicle to hit the tower, the security of unmanned aerial vehicle patrolling and examining the in-process has been improved, according to air belt width and end to end apart from the tower distance, just can form snakelike flight route, the route is reliable and accurate, the data of gathering are unified, make patrolling and examining of unmanned aerial vehicle more standardized.
According to the unmanned aerial vehicle inspection route planning method provided by the embodiment, the reliable and accurate unmanned aerial vehicle inspection route is planned through scientific calculation by taking the intrinsic parameters of the camera of the unmanned aerial vehicle and the setting parameters required by shooting as the reference, so that the uniformity of the acquired data can be guaranteed to the greatest extent; the width of the flight band can ensure that the unmanned aerial vehicle can reduce the overlapping of shooting when acquiring complete and unified data, so that the unmanned aerial vehicle can be reasonably used for patrol, and the distance from the tower can ensure that the unmanned aerial vehicle can acquire data in a safe distance, thereby avoiding collision. Therefore, this embodiment can solve current unmanned aerial vehicle and patrol and examine the airline accurate inadequately, not only is unfavorable for unmanned aerial vehicle's rational utilization, still leads to the technical problem that the data quality who gathers receives the influence.
For convenience of understanding, please refer to fig. 2, the present application provides a second embodiment of a method for planning a route for routing inspection by an unmanned aerial vehicle, including:
and step 201, based on the triangle proportion principle, calculating according to the preset camera CMOS side length, the preset camera focal length and the preset camera included angle to obtain the field angle shot by the camera.
It should be noted that the triangle proportion principle refers to that the corresponding side lengths of similar triangles are proportional, and the size of the angle of field shot by the camera can be calculated according to two constructed similar triangles by presetting the shooting included angle of the unmanned aerial vehicle according to the selected fixed parameters of the CMOS side length of the camera of the unmanned aerial vehicle and the preset camera focal length.
Referring to FIG. 4, assume that the preset camera CMOS side length is a, the preset camera focal length is b, and the preset camera angle is α1FOV is the angle of view
c is the height of the lens from the ground, d is the width of the shot from the ground, α according to FIG. 41FOV; and:
H＝f*GSD/α；
where f is the focal length of the camera, GSD is the ground resolution of the image, and α is the pixel size.
And step 203, calculating a front included angle and a rear included angle of each shooting point according to the field angle.
Please refer to fig. 5, where P1 and P2 are two shooting points, the camera of the drone is set to face the left side by an angle β, and the front angle and the rear angle of each shooting point are calculated according to the field angle:
wherein Front is the Front included angle and Back is the Back included angle.
And 204, calculating the field span of each shooting point on the ground by adopting a preset span formula according to the front included angle, the rear included angle and the preset shooting height.
It should be noted that, as shown in fig. 5, the preset shooting height is H, and the known quantity and the obtained included angle are directly substituted into the preset span formula to calculate:
wherein H is the preset shooting height, Front is the Front included angle, and Back is the Back included angle.
And step 205, calculating the ground overlap span according to the preset lateral overlap and the field span.
It should be noted that, as shown in fig. 5, the ground overlap span C needs to be calculated, which is the width of the coincidence of the two shot points, and the most critical parameter for calculating the ground overlap span is the preset lateral overlap degree C0The preset sidewise overlapping degree is specific to two adjacent shooting points, namely the overlapping width percentage of the shooting spans of the two adjacent shooting points, the parameter is defined according to the width percentage of the overlapping width of the shooting spans of a large number of unmanned aerial vehicles in the process of routing inspection, the parameter is equivalent to historical experimental data, the parameter is set to be 80% -90% most appropriate, the quality of data acquired in the range is highest, and repeated operation is not needed due to the problem of data quality; moreover, when the overlapping degree is greater than 90%, the workload of the unmanned aerial vehicle is increased, the operation rate of the flyer and the unmanned aerial vehicle is high, and redundant data are generated, so that the data maintenance is not facilitated; when the overlapping degree is less than 80%, the quality of data acquired by the unmanned aerial vehicle is deteriorated, mainly data is lost, accurate modeling is not facilitated, and the efficiency is low; it can be seen that a reasonable preset lateral overlap is very important. The ground overlap span can be calculated as follows:
C＝D*c0；
and step 206, obtaining the width of the flight band through the ground overlapping span and the preset shooting height.
It should be noted that, after the ground overlap span C is obtained, the flight band width can be obtained according to the preset shooting height H and the following formula:
wherein Back is the Back angle.
And step 207, drawing a snake-shaped flight path of the unmanned aerial vehicle inspection by using the distance from the tower and the width of the flight band obtained according to the width of the flight band.
It should be noted that the distance from the tower can be calculated according to the following formula:
and drawing a snake-shaped flight path of the unmanned aerial vehicle inspection according to the obtained width of the flight band and the distance from the tower, as shown in figure 6.
For easy understanding, this embodiment provides an application example of the planning of the unmanned aerial vehicle route inspection route, and as known, a is 9.6mm, b is 8.8mm, H is 242m, β is 5 °, and c is085 percent; then it can be calculated according to the above formula:
the front and rear included angles are respectively:
the field span is:
ground overlap span of C ═ D × C0About 226.63 m; the width of the flight band is as follows:
the distance from the tower is:
the snakelike flight route can be drawn according to the obtained width of the flight band and the distance from the tower, so that oblique photography is performed on the snakelike flight route, and the accuracy of point cloud data acquisition is improved.
For easy understanding, please refer to fig. 3, the present application further provides an embodiment of an unmanned aerial vehicle inspection route planning apparatus, including:
the first calculating module 301 is configured to calculate, based on a triangle proportion principle, a field angle photographed by a camera according to a preset camera CMOS side length, a preset camera focal length, and a preset camera included angle;
the second calculating module 302 is configured to calculate a field span of each shooting point on the ground according to the field angle and the preset shooting height;
the third calculation module 303 is configured to calculate a flight band width according to a preset sidewise overlap degree, a field span, and a preset shooting height;
and the route drawing module 304 is used for drawing the snake-shaped flight route of the unmanned aerial vehicle inspection by utilizing the distance from the tower and the flight zone width obtained according to the flight zone width.
Further, the configuration process of the preset shooting height comprises the following steps:
calculating the preset shooting height of the camera of the unmanned aerial vehicle from the ground according to a preset navigation height formula, wherein the preset navigation height formula is as follows:
H＝f*GSD/α；
where f is the focal length of the camera, GSD is the ground resolution of the image, and α is the pixel size.
Further, the second calculation module 302 includes:
the included angle calculation submodule 3021 is configured to calculate a front included angle and a rear included angle of each shooting point according to the field angle;
the view field calculation submodule 3022 is configured to calculate the view field span of each shooting point on the ground by using a preset span formula according to the front included angle, the rear included angle, and the preset shooting height, where the preset span formula is:
wherein H is the preset shooting height, Front is the Front included angle, and Back is the Back included angle.
Further, the third calculation module 303 includes:
the overlap calculation submodule 3031 is used for calculating the ground overlap span according to the preset lateral overlap and the view field span;
and the navigation band calculation submodule 3032 is used for calculating the width of the navigation band through the ground overlapping span and the preset shooting height.
In order to facilitate understanding, the application also provides unmanned aerial vehicle inspection route planning equipment, which comprises a processor and a memory:
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is used for executing any one of the unmanned aerial vehicle inspection route planning methods according to the instructions in the program codes.
To facilitate understanding, the present application also provides a computer-readable storage medium for storing program code for executing any one of the above method embodiments of the unmanned aerial vehicle patrol route planning method.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. The utility model provides an unmanned aerial vehicle patrols and examines airline planning method which characterized in that includes:
based on a triangular proportion principle, calculating according to the side length of a CMOS (complementary metal oxide semiconductor) of a preset camera, the focal length of the preset camera and the included angle of the preset camera to obtain the field angle shot by the camera;
calculating the field span of each shooting point on the ground according to the field angle and the preset shooting height;
obtaining the width of the navigation band according to the preset lateral overlapping degree, the field span and the preset shooting height;
and drawing a snake-shaped flight route of the unmanned aerial vehicle for inspection by utilizing the distance from the tower obtained according to the width of the flight band and the width of the flight band.
2. The unmanned aerial vehicle inspection route planning method according to claim 1, wherein the configuration process of the preset shooting height is as follows:
calculating the preset shooting height of the camera of the unmanned aerial vehicle from the ground according to a preset navigation height formula, wherein the preset navigation height formula is as follows:
H＝f*GSD/α；
where f is the focal length of the camera, GSD is the ground resolution of the image, and α is the pixel size.
3. The unmanned aerial vehicle inspection tour route planning method of claim 1, wherein the calculating the field span of each shooting point on the ground according to the field angle and the preset shooting height includes:
calculating to obtain a front included angle and a rear included angle of each shooting point according to the field angle;
calculating the field span of each shooting point on the ground by adopting a preset span formula according to the front included angle, the rear included angle and the preset shooting height, wherein the preset span formula is as follows:
and H is the preset shooting height, Front is the Front included angle, and Back is the Back included angle.
4. The unmanned aerial vehicle inspection tour route planning method of claim 1, wherein the finding of the flight band width according to the preset sidewise overlap, the field of view span, and the preset shooting height comprises:
calculating a ground overlap span according to the preset lateral overlap and the field span;
and calculating the width of the navigation band through the ground overlapping span and the preset shooting height.
5. The utility model provides an unmanned aerial vehicle patrols and examines airline planning device which characterized in that includes:
the first calculation module is used for calculating and obtaining the field angle shot by the camera according to the preset camera CMOS side length, the preset camera focal length and the preset camera included angle based on the triangle proportion principle;
the second calculation module is used for calculating the field span of each shooting point on the ground according to the field angle and the preset shooting height;
the third calculation module is used for calculating the width of the navigation band according to the preset sidewise overlapping degree, the view field span and the preset shooting height;
and the route drawing module is used for drawing the snake-shaped flight route of the unmanned aerial vehicle inspection according to the distance from the tower obtained according to the flight band width and the flight band width.
6. The unmanned aerial vehicle inspection route planning device of claim 5, wherein the configuration process of the preset shooting heights is as follows:
calculating the preset shooting height of the camera of the unmanned aerial vehicle from the ground according to a preset navigation height formula, wherein the preset navigation height formula is as follows:
H＝f*GSD/α；
where f is the focal length of the camera, GSD is the ground resolution of the image, and α is the pixel size.
7. The unmanned aerial vehicle inspection route planning device of claim 5, wherein the second computing module includes:
the included angle calculation submodule is used for calculating and obtaining a front included angle and a rear included angle of each shooting point according to the field angle;
the view field calculation submodule is used for calculating the view field span of each shooting point on the ground by adopting a preset span formula according to the front included angle, the rear included angle and the preset shooting height, and the preset span formula is as follows:
and H is the preset shooting height, Front is the Front included angle, and Back is the Back included angle.
8. The unmanned aerial vehicle inspection route planning device of claim 5, wherein the third computing module includes:
the overlap calculation submodule is used for calculating the ground overlap span according to the preset sidewise overlap degree and the view field span;
and the flight band calculation submodule is used for calculating the width of the flight band through the ground overlapping span and the preset shooting height.
9. The utility model provides an unmanned aerial vehicle patrols and examines airline planning equipment which characterized in that, equipment includes processor and memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the unmanned aerial vehicle inspection route planning method of any one of claims 1-4 according to instructions in the program code.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium is configured to store program code for executing the unmanned aerial vehicle inspection route planning method of any of claims 1-4.
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