CN111752305A - Mountain land type distributed photovoltaic power station unmanned aerial vehicle inspection obstacle avoidance method and system - Google Patents
Mountain land type distributed photovoltaic power station unmanned aerial vehicle inspection obstacle avoidance method and system Download PDFInfo
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Abstract
The invention discloses a method and a system for unmanned aerial vehicle routing inspection obstacle avoidance of a mountain land type distributed photovoltaic power station, which comprises the steps of obtaining satellite remote sensing parameters of an area to be inspected and setting a flight height; identifying a set of areas that cannot be reached and cannot be reached by the unmanned aerial vehicle; drawing a simplified aerial survey structure diagram of the unmanned aerial vehicle with the safe radius; planning obstacle avoidance paths between the passing stop points in sequence from the starting point; and outputting the flight path track information. The advantages are that: according to the method, on the basis of simplifying the terrain of the area to be inspected by using a mathematical method, a Dijkstra algorithm is utilized, the routing inspection line is planned in a segmented mode, the safe corner radius of the area is particularly set, the safety of the unmanned aerial vehicle is guaranteed, and the routing inspection efficiency of the unmanned aerial vehicle can be effectively improved.
Description
Technical Field
The invention relates to a method and a system for unmanned aerial vehicle routing inspection and obstacle avoidance of a mountain land type distributed photovoltaic power station, and belongs to the technical field of new energy power generation.
Background
Most of mountain land type distributed photovoltaic power generation belongs to the category of government photovoltaic poverty alleviation projects, most of users are local residents, the technical strength of operation and maintenance is relatively weak, and professional organizations are generally required to maintain power stations in a centralized and unified mode. Considering the factors of wide distribution of the distributed power stations, poor accessibility and the like, the unmanned aerial vehicle inspection becomes a main inspection means of the distributed photovoltaic power stations.
However, in a mountain region, the terrain structure is complex, the number of mountain obstacles is large, the mountain is tall and difficult to avoid, and the technical challenge is brought to the routing inspection of the unmanned aerial vehicle. The restriction of the endurance mileage of the unmanned aerial vehicle is combined, a means which can safely avoid obstacles and guarantee the safety of the unmanned aerial vehicle is urgently needed, and the inspection task can be efficiently completed to solve the technical bottleneck.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method and a system for unmanned aerial vehicle inspection and obstacle avoidance of a mountain land type distributed photovoltaic power station.
In order to solve the technical problems, the invention provides a method for unmanned aerial vehicle inspection and obstacle avoidance of a mountain land type distributed photovoltaic power station,
acquiring satellite remote sensing parameters, flight heights, mountain structures and factor information of a no-fly area of the unmanned aerial vehicle in an area to be inspected;
drawing a simplified aerial survey structure diagram according to satellite remote sensing parameters, flight heights, mountain structures and no-fly area factor information of an area to be inspected of the unmanned aerial vehicle; setting an unmanned aerial vehicle aerial survey safe radius at the corner point of each sub-region in the aerial survey structure simplified graph, and drawing the unmanned aerial vehicle aerial survey structure simplified graph with the safe radius on the basis of the aerial survey structure simplified graph; the sub-areas represent areas that are unreachable and unreachable by drones;
setting a flight starting point of the unmanned aerial vehicle on the simplified aerial survey structure diagram of the unmanned aerial vehicle with the safe radius, and setting a transit stop point of the unmanned aerial vehicle on the simplified aerial survey structure diagram of the unmanned aerial vehicle with the safe radius in sequence;
planning an obstacle avoidance path between the two continuous points from the flight starting point of the unmanned aerial vehicle until the last two continuous points comprise the last unmanned aerial vehicle passing stopping point to obtain the flight path track information of the unmanned aerial vehicle;
and outputting the flight path track information of the unmanned aerial vehicle.
Further, according to unmanned aerial vehicle treat that patrol and examine regional satellite remote sensing parameter, unmanned aerial vehicle flying height, massif structure and forbidden regional factor information, draw the simplified diagram of aerial survey structure, include:
according to satellite remote sensing parameters and the flight height of the unmanned aerial vehicle in an area to be inspected, marking areas which cannot be reached and cannot be reached by the unmanned aerial vehicle with n basic graphs and combined graphs according to mountain structure and no-fly area factors;
and determining the communication areas outside the basic graph and the combined graph, checking whether the communication areas meet the requirement of aerial survey flight of the unmanned aerial vehicle, if so, drawing an aerial survey structure simplified graph, otherwise, continuously correcting the area set of the basic graph and the combined graph, and re-determining the communication areas outside the basic graph and the combined graph.
Further, the basic pattern and the combined pattern include a rectangle, a triangle, a circle, a diamond, and a combination thereof.
Further, unmanned aerial vehicle aerial survey safe radius is greater than unmanned aerial vehicle minimum aerial survey distance.
Furthermore, the unmanned aerial vehicle flies in a straight line path among a flight starting point, a passing stop point and a turning point of the path, the combination mode of the aerial survey route of the unmanned aerial vehicle comprises that two circles are internally tangent to the straight line and externally tangent to the straight line, and the flight path between the two circles is a line segment between the nearest tangent points between the two circles; the unmanned aerial vehicle flies in an arc path at a warp stop point and a corner point of the path, and the flying path is an arc segment between two tangent points of the circle;
the circle refers to a circle with a stopping point or a corner point as a circle center and a flight safety radius distance as a radius.
Further, the process of planning an obstacle avoidance path between two consecutive points includes:
determining two continuous points of the unmanned aerial vehicle passing through the stop point, wherein the two continuous points are respectively represented as a node A and a node B;
obtaining the positions of the corner points of all sub-regions in the simplified aerial survey structure diagram of the unmanned aerial vehicle with the safe radius, wherein the positions are respectively expressed as nodes Q1Node Q2… …, node Qn；
Calculating the linear distance between the positions of the node A, the node B and the corner points of all the subregions;
and according to the calculated linear distance, calculating the path which has the shortest distance between the node A and the node B and is in the communication area by utilizing the Dijkstra algorithm.
The utility model provides a mountain land type distributing type photovoltaic power plant unmanned aerial vehicle patrols and examines and keeps away barrier system, includes:
the data acquisition module is used for acquiring satellite remote sensing parameters, flight heights, mountain structures and factor information of a no-fly area of the unmanned aerial vehicle in an area to be inspected;
the first drawing module is used for drawing an aerial survey structure simplified diagram according to satellite remote sensing parameters of an area to be inspected of the unmanned aerial vehicle, the flight height of the unmanned aerial vehicle, a mountain structure and the factor information of a no-fly area;
the second drawing module is used for setting the aerial survey safe radius of the unmanned aerial vehicle at the corner point of each sub-region in the aerial survey structure simplified graph and drawing the aerial survey structure simplified graph of the unmanned aerial vehicle with the safe radius on the basis of the aerial survey structure simplified graph; the sub-areas represent areas that are unreachable and unreachable by drones;
the setting module is used for setting a flight starting point of the unmanned aerial vehicle on the simplified aerial survey structure of the unmanned aerial vehicle with the safe radius and setting a transit stop point of the unmanned aerial vehicle on the simplified aerial survey structure of the unmanned aerial vehicle with the safe radius in sequence;
the track determining module is used for planning an obstacle avoidance path between two continuous points from the flying starting point of the unmanned aerial vehicle until the last two continuous points contain the last unmanned aerial vehicle passing stopping point to obtain the flight path track information of the unmanned aerial vehicle;
and the output module is used for outputting the flight path track information of the unmanned aerial vehicle.
Further, the first rendering module includes:
the marking module is used for marking the areas which cannot be reached and cannot be reached by the unmanned aerial vehicle with n basic graphs and combined graphs according to the satellite remote sensing parameters of the area to be inspected of the unmanned aerial vehicle and the flight height of the unmanned aerial vehicle aiming at the mountain structure and the no-fly area;
and the determining module is used for determining the communication areas outside the basic graphs and the combined graphs, checking whether the communication areas meet the requirement of aerial survey flight of the unmanned aerial vehicle, if so, drawing an aerial survey structure simplified graph, if not, continuously correcting the area set of the basic graphs and the combined graphs, and re-determining the communication areas outside the basic graphs and the combined graphs. Further, the basic pattern and the combined pattern include rectangle, triangle, circle, diamond and their combination
Further, unmanned aerial vehicle aerial survey safe radius is greater than unmanned aerial vehicle minimum aerial survey distance.
Furthermore, the unmanned aerial vehicle flies in a straight line path among a flight starting point, a passing stop point and a turning point of the path, the combination mode of the aerial survey route of the unmanned aerial vehicle comprises that two circles are internally tangent to the straight line and externally tangent to the straight line, and the flight path between the two circles is a line segment between the nearest tangent points between the two circles; the unmanned aerial vehicle flies in an arc path at a warp stop point and a corner point of the path, and the flying path is an arc segment between two tangent points of the circle;
the circle refers to a circle with a flight starting point, a warp stop point or a corner point as a circle center and a flight safety radius distance as a radius.
Further, the trajectory determination module includes:
the continuous point determining module is used for determining two continuous points of the unmanned aerial vehicle passing stopping points, which are respectively represented as a node A and a node B;
a corner point acquisition module for acquiring the position of the corner point of each sub-region in the simplified aerial survey structure diagram of the unmanned aerial vehicle with the safe radius, which is respectively represented as a node Q1Node Q2… …, node Qn；
The first calculation module is used for calculating the linear distances among the positions of the node A, the node B and the corner points of all the sub-regions;
and the second calculation module is used for calculating the path which has the shortest distance between the node A and the node B and is in the communication area by utilizing the Dijkstra algorithm according to the calculated linear distance.
An unmanned aerial vehicle comprises the system.
The invention achieves the following beneficial effects:
this kind of mountain land type distributing type photovoltaic power plant unmanned aerial vehicle patrols and examines obstacle avoidance method and system utilizes dijkstra's algorithm on the basis that the mathematical method carries out the simplified processing to waiting to examine regional topography, and the circuit is patrolled and examined in segmentation planning, sets up regional safe corner radius very much, ensures unmanned aerial vehicle safety, can effectively promote unmanned aerial vehicle and patrol and examine efficiency.
Drawings
FIG. 1 is a flow chart of an unmanned aerial vehicle inspection obstacle avoidance method for a mountain land type distributed photovoltaic power station of the invention;
FIG. 2 is a simplified diagram of a mapping structure according to the present invention;
FIG. 3 is a simplified diagram of the aerial survey structure of the UAV of the present invention with a safe radius;
fig. 4 is a schematic diagram of planning a continuous two-point obstacle avoidance path according to the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, 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 invention.
The embodiment of the invention provides a method for unmanned aerial vehicle inspection and obstacle avoidance of a mountain land type distributed photovoltaic power station, which specifically comprises the following steps as shown in figure 1:
step 1) inputting satellite remote sensing parameters of an area to be inspected of the unmanned aerial vehicle in the system, and setting the flight height of the unmanned aerial vehicle as H;
step 2) in the system, referring to the satellite remote sensing parameters of the area to be inspected and the flight height H of the unmanned aerial vehicle in the step 1), and marking the areas which cannot be reached and cannot be reached by the unmanned aerial vehicle by using n basic graphs and combined graphs according to the factors of the mountain structure and the flight forbidden area, wherein S is marked as S and S = { S1+ S2+ S3+ … … + Sn };
step 3) defining a communication area outside the polygon and the combined graph in the system as S ', checking whether the S' can meet the requirement of aerial survey flight of the unmanned aerial vehicle, if so, turning to the step 4), if not, continuing to correct the basic graph and the combined graph set S, and executing the step 3 again;
step 4), drawing a simplified aerial survey structure diagram in the system;
as shown in fig. 2.
Step 5) arranging an unmanned aerial vehicle aerial survey safe radius at each sub-area corner position in the aerial survey structure simplified diagram, and drawing the unmanned aerial vehicle aerial survey structure simplified diagram with the safe radius on the basis of the aerial survey structure simplified diagram;
as shown in fig. 3.
Step 6) setting a flight starting point of the unmanned aerial vehicle on a simplified aerial survey structure of the unmanned aerial vehicle with a safe radius, wherein the flight starting point is defined as P0, and the stop points of the unmanned aerial vehicle are set in sequence and are defined as P1, P2, … … and Pn;
as shown in fig. 4.
Step 7), planning an obstacle avoidance path between two continuous points from the unmanned aerial vehicle flight starting point P0 until the last two continuous points comprise the last unmanned aerial vehicle passing stopping point;
and 8) outputting the flight path track information of the unmanned aerial vehicle by the system.
In a specific implementation manner of the embodiment of the invention, the basic pattern and the combined pattern include rectangles, triangles, circles, diamonds, polygons, and combinations thereof;
in a specific implementation manner of the embodiment of the invention, the safe radius of the corner of the sub-area needs to be larger than the minimum aerial survey distance, the turning radius factor is considered when the unmanned aerial vehicle turns, and speed reduction operation needs to be performed if necessary;
in a particular implementation of an embodiment of the invention, the last transit stop may coincide with the flight origin;
in a specific implementation manner of the embodiment of the invention, the flight of the unmanned aerial vehicle between the flight origin, the warp stop point and the turning point of the approach flies in a straight line path, the combination manner of the aerial survey route of the unmanned aerial vehicle comprises two conditions that two circles are internally tangent to the straight line and two circles are externally tangent to the straight line, and the actual flight path is a line segment between the two tangent points; the unmanned aerial vehicle flies in an arc path at a warp stop point and a corner point of the path, the aerial survey route of the unmanned aerial vehicle is in a mode that two straight lines are tangent to a circle, and the actual flying path is an arc section between two tangent points;
in a specific implementation manner of the embodiment of the present invention, the circle refers to a flight starting point, or a circle with a safe radius distance as a radius and a sub-region corner position as a circle center;
in a specific implementation manner of the embodiment of the present invention, as shown in fig. 4, a method for planning a continuous two-point obstacle avoidance path includes:
step a) defining two continuous points of the unmanned aerial vehicle passing stopping point in the system as a node A and a node B, namely the node A and the node B are a set { P }0，P1，P2，……，PnTwo adjacent points in (1);
step b), in the system, the corner positions of each sub-region in the simplified aerial survey structure of the unmanned aerial vehicle with the safe radius in the step 5) are defined as a node Q1, a node Q2, a node … … and a node Qn;
step c) calculating the linear distance of all nodes (A, B, Q1, Q2, … …, Qn) to each other in the system;
step d) calculating the shortest distance between the node A and the node B by utilizing Dijkstra algorithm in the system and the path n in the communication area S';
in a specific implementation manner of the embodiment of the invention, the flight path trajectory of the unmanned aerial vehicle is a set of the line segment and the circular arc segment.
Correspondingly, the invention also provides a mountain land type distributed unmanned aerial vehicle inspection obstacle avoidance system for the photovoltaic power station, which comprises:
the data acquisition module is used for acquiring satellite remote sensing parameters, flight heights, mountain structures and factor information of a no-fly area of the unmanned aerial vehicle in an area to be inspected;
the marking module is used for marking the areas which cannot be reached and cannot be reached by the unmanned aerial vehicle with n basic graphs and combined graphs according to the satellite remote sensing parameters of the area to be inspected of the unmanned aerial vehicle and the flight height of the unmanned aerial vehicle aiming at the mountain structure and the no-fly area;
the first drawing module is used for determining a communication area outside the basic graph and the combined graph, checking whether the communication area meets the requirement of aerial survey flight of the unmanned aerial vehicle, if so, drawing a simplified aerial survey structure graph, if not, continuously correcting the area set of the basic graph and the combined graph, and re-determining the communication area outside the basic graph and the combined graph;
the second drawing module is used for setting the aerial survey safe radius of the unmanned aerial vehicle at the corner point of each sub-region in the aerial survey structure simplified graph and drawing the aerial survey structure simplified graph of the unmanned aerial vehicle with the safe radius on the basis of the aerial survey structure simplified graph;
the setting module is used for setting a flight starting point of the unmanned aerial vehicle on the simplified aerial survey structure of the unmanned aerial vehicle with the safe radius and setting a transit stop point of the unmanned aerial vehicle on the simplified aerial survey structure of the unmanned aerial vehicle with the safe radius in sequence;
the track determining module is used for planning an obstacle avoidance path between two continuous points from the flying starting point of the unmanned aerial vehicle until the last two continuous points contain the last unmanned aerial vehicle passing stopping point to obtain the flight path track information of the unmanned aerial vehicle;
and the output module is used for outputting the flight path track information of the unmanned aerial vehicle.
The basic pattern and the combined pattern comprise rectangle, triangle, circle, rhombus and combination thereof
The safe radius of aerial survey of unmanned aerial vehicle is greater than the minimum aerial survey distance of unmanned aerial vehicle.
The unmanned aerial vehicle flies in a straight line path among a flight starting point, a passing stop point and a turning point of the path, the combination mode of the aerial survey route of the unmanned aerial vehicle comprises that two circles are internally tangent to the straight line and externally tangent to the straight line, and the flight path between the two circles is a line segment between the nearest tangent points between the two circles; the unmanned aerial vehicle flies in an arc path at a warp stop point and a corner point of the path, and the flying path is an arc segment between two tangent points of the circle;
the circle refers to a circle with a flight starting point, a warp stop point or a corner point as a circle center and a flight safety radius distance as a radius.
The trajectory determination module comprises:
the continuous point determining module is used for determining two continuous points of the unmanned aerial vehicle passing stopping points, which are respectively represented as a node A and a node B;
a corner point acquisition module for acquiring the position of the corner point of each sub-region in the simplified aerial survey structure diagram of the unmanned aerial vehicle with the safe radius, which is respectively represented as a node Q1Node Q2… …, node Qn；
The first calculation module is used for calculating the linear distances among the node A, the node B and all the sub-region corner point position nodes;
and the second calculation module is used for calculating the shortest distance between the node A and the node B and the path in the communication area S' by utilizing the Dijkstra algorithm according to the calculated linear distances of all the nodes.
An unmanned aerial vehicle comprises the system.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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 of the embodiments of the present invention.
Claims (13)
1. An unmanned aerial vehicle inspection obstacle avoidance method for a mountain land type distributed photovoltaic power station is characterized in that,
acquiring satellite remote sensing parameters, flight heights, mountain structures and factor information of a no-fly area of the unmanned aerial vehicle in an area to be inspected;
drawing a simplified aerial survey structure diagram according to satellite remote sensing parameters, flight heights, mountain structures and no-fly area factor information of an area to be inspected of the unmanned aerial vehicle;
setting an unmanned aerial vehicle aerial survey safe radius at the corner point of each sub-region in the aerial survey structure simplified graph, and drawing the unmanned aerial vehicle aerial survey structure simplified graph with the safe radius on the basis of the aerial survey structure simplified graph; the sub-areas represent areas that are unreachable and unreachable by drones;
setting a flight starting point of the unmanned aerial vehicle on the simplified aerial survey structure diagram of the unmanned aerial vehicle with the safe radius, and setting a transit stop point of the unmanned aerial vehicle on the simplified aerial survey structure diagram of the unmanned aerial vehicle with the safe radius in sequence;
planning an obstacle avoidance path between the two continuous points from the flight starting point of the unmanned aerial vehicle until the last two continuous points comprise the last unmanned aerial vehicle passing stopping point to obtain the flight path track information of the unmanned aerial vehicle;
and outputting the flight path track information of the unmanned aerial vehicle.
2. The method for unmanned aerial vehicle inspection and obstacle avoidance of the mountain land type distributed photovoltaic power station according to claim 1, wherein a simplified aerial survey structure drawing is drawn according to satellite remote sensing parameters, unmanned aerial vehicle flight heights, mountain structures and no-fly area factor information of an area to be inspected of the unmanned aerial vehicle, and the method comprises the following steps:
according to satellite remote sensing parameters and the flight height of the unmanned aerial vehicle in an area to be inspected, marking areas which cannot be reached and cannot be reached by the unmanned aerial vehicle with n basic graphs and combined graphs according to mountain structure and no-fly area factors;
and determining the communication areas outside the basic graph and the combined graph, checking whether the communication areas meet the requirement of aerial survey flight of the unmanned aerial vehicle, if so, drawing an aerial survey structure simplified graph, otherwise, continuously correcting the area set of the basic graph and the combined graph, and re-determining the communication areas outside the basic graph and the combined graph.
3. The method for unmanned aerial vehicle inspection and obstacle avoidance of the mountain land type distributed photovoltaic power station as claimed in claim 2, wherein the basic pattern and the combined pattern comprise rectangles, triangles, circles, diamonds and combinations thereof.
4. The method for unmanned aerial vehicle inspection tour and obstacle avoidance of the mountain type distributed photovoltaic power station of claim 1, wherein the aerial survey safety radius of the unmanned aerial vehicle is larger than the minimum aerial survey distance of the unmanned aerial vehicle.
5. The method for routing inspection and obstacle avoidance of the unmanned aerial vehicle of the mountain type distributed photovoltaic power station according to claim 1, wherein the unmanned aerial vehicle flies in a straight line path among a flight starting point, a transit stopping point and a turning point of a path, the combination mode of the aerial survey route of the unmanned aerial vehicle comprises that two circles are internally tangent to the straight line and externally tangent to the straight line, and the flight path between the two circles is a line segment between the nearest tangent points between the two circles; the unmanned aerial vehicle flies in an arc path at a warp stop point and a corner point of the path, and the flying path is an arc segment between two tangent points of the circle;
the circle refers to a circle with a stopping point or a corner point as a circle center and a flight safety radius distance as a radius.
6. The method for routing inspection and obstacle avoidance of unmanned aerial vehicles of mountain land type distributed photovoltaic power stations as claimed in claim 1, wherein the process of planning an obstacle avoidance path between two successive points comprises:
determining two continuous points of the unmanned aerial vehicle passing through the stop point, wherein the two continuous points are respectively represented as a node A and a node B;
obtaining the positions of the corner points of all sub-regions in the simplified aerial survey structure diagram of the unmanned aerial vehicle with the safe radius, wherein the positions are respectively expressed as nodes Q1Node Q2… …, node Qn；
Calculating the linear distance between the node A, the node B and the nodes at the corner positions of all the sub-regions;
and according to the calculated linear distance, calculating the path which has the shortest distance between the node A and the node B and is in the communication area by utilizing the Dijkstra algorithm.
7. The utility model provides a mountain land type distributing type photovoltaic power plant unmanned aerial vehicle patrols and examines and keeps away barrier system which characterized in that includes:
the data acquisition module is used for acquiring satellite remote sensing parameters, flight heights, mountain structures and factor information of a no-fly area of the unmanned aerial vehicle in an area to be inspected;
the first drawing module is used for drawing an aerial survey structure simplified diagram according to satellite remote sensing parameters of an area to be inspected of the unmanned aerial vehicle, the flight height of the unmanned aerial vehicle, a mountain structure and the factor information of a no-fly area;
the second drawing module is used for setting the aerial survey safe radius of the unmanned aerial vehicle at the corner point of each sub-region in the aerial survey structure simplified graph and drawing the aerial survey structure simplified graph of the unmanned aerial vehicle with the safe radius on the basis of the aerial survey structure simplified graph; the sub-areas represent areas that are unreachable and unreachable by drones;
the setting module is used for setting a flight starting point of the unmanned aerial vehicle on the simplified aerial survey structure of the unmanned aerial vehicle with the safe radius and setting a transit stop point of the unmanned aerial vehicle on the simplified aerial survey structure of the unmanned aerial vehicle with the safe radius in sequence;
the track determining module is used for planning an obstacle avoidance path between two continuous points from the flying starting point of the unmanned aerial vehicle until the last two continuous points contain the last unmanned aerial vehicle passing stopping point to obtain the flight path track information of the unmanned aerial vehicle;
and the output module is used for outputting the flight path track information of the unmanned aerial vehicle.
8. The mountain area type distributed photovoltaic power station unmanned aerial vehicle inspection and obstacle avoidance system of claim 7, wherein the first drawing module comprises:
the marking module is used for marking the areas which cannot be reached and cannot be reached by the unmanned aerial vehicle with n basic graphs and combined graphs according to the satellite remote sensing parameters of the area to be inspected of the unmanned aerial vehicle and the flight height of the unmanned aerial vehicle aiming at the mountain structure and the no-fly area;
and the determining module is used for determining the communication areas outside the basic graphs and the combined graphs, checking whether the communication areas meet the requirement of aerial survey flight of the unmanned aerial vehicle, if so, drawing an aerial survey structure simplified graph, if not, continuously correcting the area set of the basic graphs and the combined graphs, and re-determining the communication areas outside the basic graphs and the combined graphs.
9. The mountain land type distributed photovoltaic power station unmanned aerial vehicle inspection and obstacle avoidance system of claim 7, wherein the basic pattern and the combined pattern comprise rectangles, triangles, circles, diamonds and combinations thereof.
10. The system of claim 7, wherein the safe radius of aerial survey of the unmanned aerial vehicle is greater than the minimum aerial survey distance of the unmanned aerial vehicle.
11. The system for routing inspection and obstacle avoidance of unmanned aerial vehicles for mountain-type distributed photovoltaic power stations as claimed in claim 7, wherein the unmanned aerial vehicles fly in a straight line path between the flight starting point, the transit stopping point and the turning point of the approach, the combination of the aerial survey routes of the unmanned aerial vehicles comprises two circles internally tangent to the straight line and two circles externally tangent to the straight line, and the flight path between the two circles is a line segment between the nearest tangent points between the two circles; the unmanned aerial vehicle flies in an arc path at a warp stop point and a corner point of the path, and the flying path is an arc segment between two tangent points of the circle;
the circle refers to a circle with a flight starting point, a warp stop point or a corner point as a circle center and a flight safety radius distance as a radius.
12. The mountain area type distributed photovoltaic power station unmanned aerial vehicle inspection and obstacle avoidance system of claim 8, wherein the track determination module comprises:
the continuous point determining module is used for determining two continuous points of the unmanned aerial vehicle passing stopping points, which are respectively represented as a node A and a node B;
a corner point acquisition module for acquiring the position of the corner point of each sub-region in the simplified aerial survey structure diagram of the unmanned aerial vehicle with the safe radius, which is respectively represented as a node Q1Node Q2… …, node Qn；
The first calculation module is used for calculating the linear distances among the node A, the node B and all the sub-region corner point position nodes;
and the second calculation module is used for calculating the path which has the shortest distance between the node A and the node B and is in the communication area by utilizing the Dijkstra algorithm according to the calculated linear distance.
13. A drone comprising a system according to any one of claims 7 to 12.
Priority Applications (1)
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