CN112034881B - Multi-rotor unmanned aerial vehicle inspection viewpoint quantity reduction method - Google Patents
Multi-rotor unmanned aerial vehicle inspection viewpoint quantity reduction method Download PDFInfo
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Abstract
The invention discloses a method for reducing the number of inspection viewpoints of a multi-rotor unmanned aerial vehicle, which comprises the following steps: designing two viewpoint reduction methods according to the actual inspection process of the multi-rotor unmanned aerial vehicle and calculating reducible ranges of the two methods; classifying the components to be detected, and establishing a viewpoint reduction rule for the components to be detected without a fixed shooting plane; establishing a fixed shooting plane and a viewpoint reduction rule of the shooting plane on the same plane; and establishing a fixed shooting plane, wherein the shooting planes are not on the same plane, and carrying out viewpoint reduction rules. The invention solves the problems that when a multi-rotor unmanned aerial vehicle patrols and examines an electric power tower, components to be tested are repeatedly shot, the number of shooting viewpoints is too many, and the patrolling and examining efficiency is low in the prior art.
Description
Technical Field
The invention belongs to the technical field of multi-rotor unmanned aerial vehicle inspection, and particularly relates to a method for reducing the number of inspection viewpoints of a multi-rotor unmanned aerial vehicle.
Background
With the increasing demand of China on electric energy, the distribution of electric transmission lines of electric poles and towers is wide and the landform is complex. The transmission line trouble can cause the large tracts of land to have a power failure, seriously influences people's normal life, in order to guarantee electric power tower safe operation, and electric power patrols the line very important. And the electric power tower manual inspection cost in complicated topography area is very high, in addition to produce the threat to patrolling and examining staff's personal safety easily, consequently, utilize many rotor unmanned aerial vehicle to patrol and examine electric power tower and will not become main trend yet.
At present, in the inspection process of a multi-rotor unmanned aerial vehicle on an electric power tower, inspection viewpoints are mainly positioned in a manual selection mode, all components to be detected are integrally inspected for guarantee, and each component to be detected corresponds to the viewpoint position of one unmanned aerial vehicle. However, in order to meet the requirement of power transmission, the structure of a power tower is increasingly complex, and components to be tested are increased, so that too many inspection viewpoints exist during inspection of the multi-rotor unmanned aerial vehicle. Too much inspection viewpoint quantity can cause some components and parts that await measuring to be shot repeatedly, has reduced and has patrolled and examined efficiency, also does not benefit to the processing judgement of later stage to the image. In addition, too many viewpoints of patrolling and examining can lead to many rotor unmanned aerial vehicle's hover time to lengthen, may surpass unmanned aerial vehicle's maximum flight power, can't accomplish in time and expect to patrol and examine the task. Therefore, the actual condition of multi-rotor unmanned aerial vehicle inspection is fully considered, the actual condition is sent to corresponding viewpoint reduction rules according to different attributes of the components to be tested, and the method for reducing the inspection viewpoint number of the multi-rotor unmanned aerial vehicle is provided.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a reduction method for the number of inspection viewpoints of a multi-rotor unmanned aerial vehicle, so as to solve the problems that components to be detected are repeatedly shot, the number of the shot viewpoints is too many, and the inspection efficiency is low when the multi-rotor unmanned aerial vehicle inspects the power tower in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention discloses a method for reducing the number of inspection viewpoints of a multi-rotor unmanned aerial vehicle, which comprises the following steps:
s1: designing two viewpoint reduction methods according to the actual inspection process of the multi-rotor unmanned aerial vehicle and calculating reducible ranges of the two methods;
s2: classifying the components to be detected, and establishing a viewpoint reduction rule for the components to be detected without a fixed shooting plane;
s3: establishing a fixed shooting plane and a viewpoint reduction rule of the shooting plane on the same plane;
s4: and establishing a fixed shooting plane, wherein the shooting planes are not on the same plane, and carrying out viewpoint reduction rules.
Further, the two viewpoint reduction methods in step S1 are specifically:
s11, when shooting a certain component to be tested, the multi-rotor unmanned aerial vehicle judges whether other components to be tested are in the same shooting range;
s12, giving the optimal shooting range of the unmanned aerial vehicle according to the size of the sensor, the focal length and the shooting distance of the airborne camera, and then judging the components to be detected on the power tower in the shooting range.
Further, the component to be tested in step S2 is divided into two types, i.e., a non-fixed shooting plane and a fixed shooting plane according to the plane to be tested and the direction of the component to be tested on the power tower; according to the attribute characteristics of the components to be detected without a fixed shooting plane, the viewpoint reduction rule is given by combining the shooting mode of the multi-rotor unmanned aerial vehicle.
Further, the viewpoint reduction rule of the component to be tested without the fixed shooting plane in step S2 specifically includes: such components only need to be completely photographed, and therefore, the corresponding number of viewpoints can be reduced by judging whether the components are in the photographing range.
Further, the step S3 specifically includes: according to the attribute characteristics that a fixed shooting plane exists and the components and parts to be detected of the shooting plane on the same plane are to be shot, the viewpoint reduction rule is given by combining the shooting mode of the multi-rotor unmanned aerial vehicle.
Further, the viewpoint reduction rule that the shooting plane is fixed in step S3 and the shooting plane is on the same plane component is specifically: judging whether the components are on the same plane or not, and if not, reducing the components; if the components are on the same plane, the components need to fall within the same imaging range to reduce the viewpoint.
Further, the step S4 specifically includes: according to the attribute characteristics of the components to be detected with the fixed shooting plane and the shooting plane not on the same plane, the viewpoint reduction rule is given by combining the shooting mode of the multi-rotor unmanned aerial vehicle.
Further, the viewpoint reduction rule for fixing the shooting plane in step S4, where the shooting plane is not on the same plane, is specifically as follows: the components which are not on the same plane are combined and shot by adjusting the positions between the unmanned aerial vehicle and the components; also, the components are still required to fall within the same shooting range.
The invention has the beneficial effects that:
the invention provides two viewpoint reduction methods in a polling mode of a multi-rotor unmanned aerial vehicle, and the reducible ranges of the two methods are calculated. And classifying the components to be detected according to the distribution characteristics of the components to be detected on the electric power tower, and giving a corresponding viewpoint reduction rule for each type of components to be detected. Effectively reduce many rotor unmanned aerial vehicle through viewpoint reduction rule and patrol and examine viewpoint quantity, improve and patrol and examine efficiency, provide technical support for many rotor unmanned aerial vehicle carry out the high efficiency and patrol and examine, have certain practical value.
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FIG. 1 shows a schematic diagram of the method of the present invention.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1, the method for reducing the number of inspection viewpoints of a multi-rotor unmanned aerial vehicle comprises the following steps:
s1: designing two viewpoint reduction methods according to the actual inspection process of the multi-rotor unmanned aerial vehicle and calculating reducible ranges of the two methods;
two viewpoint reduction modes exist in the process of inspecting the electric power tower by the multi-rotor unmanned aerial vehicle;
s11, when the multi-rotor unmanned aerial vehicle shoots a certain component to be tested, judging whether other components to be tested fall in the shooting range;
s12 gives the best shooting range of the unmanned aerial vehicle according to the size, the focal length and the shooting distance of the sensor of the airborne camera, and then judges which components to be detected on the electric power tower are in the shooting range. Therefore, the reducible photographing ranges of the two different viewpoint reduction methods are also different.
Firstly, establishing a space relative coordinate system by taking the center of a tower footing of an electric tower as an origin of coordinates, and assuming that the space coordinate of a component A to be tested is (0, y)A,zA) Width of component is WAHeight of HA。
The first method is as follows: the focal length of the airborne camera is a zoom lens;
when shooting the components and parts A that await measuring, many rotor unmanned aerial vehicle's machine carries the camera and is zoom, and the process of shooing is in order to guarantee that the clear fixed shooting distance of image, and the focus is changed to the priority and is adjusted. Therefore, the shooting distance is not less than the initial minimum safe distance LsUnder the conditions of (a) can obtain:
F1＝min{Lsw/W1,Lsh/H1}
in the formula, F is the focal length of the airborne camera, w and h are the sizes of the sensors respectively, W, H are the sizes of the components to be measured respectively, L is the shooting distance, F1The current shooting focal length of the airborne camera is obtained;
suppose that the variable range of the onboard camera focal length is (F)min,Fmax) If F is1＜FminAt this moment, the airborne camera can not shoot the components and parts to be measured completely, and the maximum range that the multi-rotor unmanned aerial vehicle can shoot needs to be adjusted as follows:
if F1∈(Fmin,Fmax) Then many rotor unmanned aerial vehicle's the scope of can shooing do:
if F1＞FmaxThe minimum scope that many rotor unmanned aerial vehicle can shoot this moment does:
the focal length of the airborne camera is a fixed-focus lens;
assuming that the focal length of the onboard camera is a fixed value FfixThen, the shooting distance between many rotor unmanned aerial vehicle and the components and parts that await measuring this moment is:
L1＝max{FfixWA/w,FfixHA/h}
if L is1＜LsAt this moment, the constraint condition that the shooting distance should not be less than the initial minimum safe distance is not satisfied by the multi-rotor unmanned aerial vehicle, so the actual shooting distance needs to be increased, and the new shooting range is obtained:
if L is1≥LsThen many rotor unmanned aerial vehicle's shooting scope does:
the second method comprises the following steps: the focal length of the airborne camera is a zoom lens;
many rotor unmanned aerial vehicle need keep certain shooting distance when patrolling and examining the electric power shaft tower, still need can clearly shoot all components and parts that await measuring simultaneously, consequently preferentially use the big focus to patrol and examine the shooting. The shooting range of the multi-rotor unmanned aerial vehicle at the maximum focal length is calculated in combination with the sensor size of the onboard camera:
the focal length of the airborne camera is a fixed-focus lens;
in order to shoot the components and parts that await measuring as far as clearly as possible, regard as the shooting distance with initial minimum safe distance, many rotor unmanned aerial vehicle's shooting distance this moment is:
the components and parts to be measured on the electric power tower can be divided into a shooting surface not considering and a shooting surface considering according to the type of the shooting surface. The shooting surface of the component to be tested is not considered, for example, when the insulator string is patrolled, the insulator string can be shot from any direction meeting the patrolling constraint condition, and all the components to be tested falling into the shooting range can be combined and shot for the components to be tested, so that the number of viewpoints is reduced.
S2: classifying the components to be detected, and establishing a rule for performing viewpoint reduction on the components to be detected without a fixed shooting plane;
the components to be measured on the electric tower can be divided into components to be measured without a fixed shooting plane and components to be measured with a fixed shooting plane according to the distribution characteristics of the components. Some components to be tested do not have fixed shooting planes, and the multi-rotor unmanned aerial vehicle can shoot the components from any angle of the electric power tower on the premise of meeting the self safety, such as an insulator string; while other components to be tested have fixed shooting planes, the components of the type need the multi-rotor unmanned aerial vehicle to fly to a specific viewpoint position to shoot the components so as to meet the inspection requirement;
viewpoint reduction rule without fixed shooting plane:
the first method is as follows: when the multi-rotor unmanned aerial vehicle patrols and examines the component A to be tested, the shooting area (W) is determined according to whether the focal length of the airborne camera is changed1,H1) Or (W)2,H2) As a viewpoint reducible range; when a plurality of components to be tested are located in the shooting range, the components are shot uniformly, and the conditions for judging whether other components to be tested fall in the shooting range are as follows:
in the formula, yi,ziThe space coordinate values of the components i are respectively expressed, i is A, B, CiAnd HiRespectively representing the width and the height of the component i; according to whether the focal length of the airborne camera is changed or not, the k value is 1 or 2; and calculating the viewpoint position according to the coordinate value of the component A to be measured and the size of the shooting range, wherein the other components to be measured falling into the shooting range do not perform viewpoint calculation any more.
The second method comprises the following steps: selecting a zone (W) according to whether the focal length of the onboard camera varies3,H3) Or (W)4,H4) As a view point reducible range, the conditions for determining whether other components to be tested fall within the shooting range are as follows:
in the formula, yi、zi、yjAnd zjRespectively representing coordinate values, W, of the components i, j to be testedi、Hi、WjAnd HjRespectively representing the width and the height of the component i, j to be tested after the hovering error is considered. Can reduce the shooting range to Wk、HkAnd k takes 3 or 4. And (4) calculating the viewpoint position by taking the coordinates and the size of the central point of the shooting range, and not calculating the viewpoint of other components to be measured in the shooting range.
S3: establishing a rule that a fixed shooting plane exists and the shooting plane carries out viewpoint reduction on the same plane;
the existence of the components to be tested of the shooting plane means that the components need to be shot from a certain angle during inspection, and the content required by inspection can be shot, such as a wire end or a cross arm end hanging point of an insulator string. According to the position of the shooting plane in space, the shooting plane can be divided into the same plane and the different plane. Element device to be testedThe shooting plane of the piece and the orientation of the electric power tower have a certain relation with the trend of the power transmission line, for example, the cross arm ends of the insulator strings are distributed on two sides of the electric power tower and are in the same plane with the electric power tower, and the shooting plane and the orientation of the electric power tower are perpendicular to the direction of the power transmission line. And calculating a plane equation of the component to be measured by using the principle that one plane can be determined through three points which are not on the same plane in space. Suppose the coordinate h (x) of the cross arm end hanging point on the same insulator chainh,yh,zh) Wire end hanging point coordinate d (x)d,yd,zd) And the wire end hanging point coordinate d of the adjacent tower connected with the wire end hanging point coordinate d1(xd1,yd1,zd1) And calculating a plane equation of the hanging point at the end of the cross arm as follows:
A(x-xd)+B(y-yd)+C(z-zd)＝0
in the equation, the value of A, B, C is determined by the selected coordinate point, where:
A＝(zd1-zh)yd+(zd-zd1)yh+(zh-zd)yd1
B＝(zh-zd1)xd+(zd1-zd)xh+(zd-zh)xd1
C＝(yd1-yh)xd+(yd-yd1)xh+(yh-yd)xd1
when the shooting planes of different components to be tested are not on the same plane in space, the components to be tested cannot be shot uniformly, so that the information of the shooting planes of the components to be tested needs to be acquired before shooting for judgment. Whether the space coordinate values of other components to be tested are in the same plane with the components to be tested can be judged by substituting the space coordinate values of the other components to be tested into the plane equation.
There is a viewpoint reduction rule that the shooting plane is fixed and the shooting plane is in the same plane:
the first method is as follows: when a plurality of components with fixed shooting surfaces are arranged and the shooting surfaces are on the same plane, one of the components can be used as shootingThe shooting center gives a shooting range, and then judges whether other components with the same shooting surface are in the shooting range. If the component B to be tested is shot, the spatial coordinate value is (0, y)B,zB) Width and height are given by WBAnd HBAnd judging whether other components to be tested fall in the shooting range or not according to the following conditions:
in the formula, yi,ziThe space coordinate values of the components i are respectively expressed, i is A, B, CiAnd HiRespectively representing the width and height of component i. The value of k takes 1 or 2 depending on whether the focal length of the onboard camera changes. And calculating the viewpoint position according to the coordinate value of the component B to be measured and the size of the shooting range, wherein the other components to be measured falling into the shooting range do not perform viewpoint calculation any more.
The second method comprises the following steps: according to whether the focal length of the airborne camera changes or not, a shooting range is given, the processing method and the mode I for combining and shooting a plurality of components with shooting surfaces in the same plane are the same, and the conditions for judging whether other components to be detected fall in the shooting range are as follows:
in the formula, yi、zi、yjAnd zjRespectively representing coordinate values, W, of the components i, j to be testedi、Hi、WjAnd HjRespectively representing the width and the height of the component i, j to be tested after the hovering error is considered. Can reduce the shooting range to Wk、HkAnd k takes 3 or 4. And (4) calculating the viewpoint position by taking the coordinates and the sizes of the central points of the shooting range, and not calculating the viewpoints of other components to be detected within the shooting range.
Still have the shooting plane of a plurality of components and parts that await measuring not in the condition in space coplanar when patrolling and examining electric power tower, for example the orientation of the wire end hanging point of two insulator chains of strain insulator tower with one side is two return in AC line is different, consequently if will shoot these two hanging points simultaneously and need adjust many rotor unmanned aerial vehicle's camera angle and shoot.
S4: establishing a rule that a fixed shooting plane exists and the shooting plane is not on the same plane for viewpoint reduction;
there is a viewpoint reduction rule that a shooting plane is fixed and the shooting plane is not in the same plane:
the first method is as follows: the method comprises the following steps of polling a certain component C to be detected with a fixed shooting plane, and judging whether other components to be detected fall in the shooting range as follows:
in the formula, yi,ziThe space coordinate values of the components i are respectively expressed, i is A, B, CiAnd HiRespectively representing the width and height of component i. The value of k takes 1 or 2 depending on whether the focal length of the onboard camera changes.
After the above formula is satisfied, substituting the coordinates of the other components to be tested into the plane equation of the determined components to judge whether any two components to be tested are in the same plane, and if so, processing according to a viewpoint reduction rule that a fixed shooting plane exists and the shooting plane is in the same plane; if the positions of the viewpoints of the multi-rotor unmanned aerial vehicle are not in the same plane, the positions of the viewpoints of the multi-rotor unmanned aerial vehicle need to be adjusted; taking any two components to be tested considering the shooting plane in space as an example, the spatial coordinate of the component C is (x)C,yC,zC) Width of WCHeight of HC(ii) a The space coordinate of the component D is (x)D,yD,zD) Width of WDHeight of HD(ii) a According to the method for determining the plane equation, respective plane equations are determined, and then normal equations of the two planes passing through respective components to be tested are calculated through the plane equations:
when the included angle of the shooting planes of the two components to be tested in the space is less than 30 degrees, the two components cannot be shot clearly at the same time; calculating the included angle between planes by normal equation
The viewpoint that will many rotor unmanned aerial vehicle moves to the position that the contained angle between the normal that two components and parts place planes correspond is the same to guarantee the shooting distance between this viewpoint position and two components and parts more than or equal to initial minimum safe distance, the viewpoint position after the calculation removal is:
in the above formula, i represents C or D, i.e. all subscripts in the first formula are C, so i represents C, corresponding to tiAll subscripts in the list are C; similarly, all subscripts in the second formula are D, so i represents D.
The second method comprises the following steps: the conditions for judging whether other components to be detected fall in the shooting range are as follows according to whether the focal length of the airborne camera changes to give the shooting range:
in the formula, yi、zi、yjAnd zjRespectively representing coordinate values, W, of the components i, j to be testedi、Hi、WjAnd HjRespectively representing the width and the height of the component i, j to be tested after the hovering error is considered. Can reduce the shooting range to Wk、HkAnd k takes 3 or 4.
The invention provides two viewpoint reduction methods in a polling mode of a multi-rotor unmanned aerial vehicle, and the reducible ranges of the two methods are calculated. And classifying the components to be detected according to the distribution characteristics of the components to be detected on the electric power tower, and giving a corresponding viewpoint reduction rule for each type of components to be detected. Effectively reduce many rotor unmanned aerial vehicle through viewpoint reduction rule and patrol and examine viewpoint quantity, improve and patrol and examine efficiency, provide technical support for many rotor unmanned aerial vehicle carry out the high efficiency and patrol and examine, have certain practical value.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (7)
1. The utility model provides a many rotor unmanned aerial vehicle patrols and examines sight quantity reduction method which characterized in that includes following step:
s1: designing two viewpoint reduction methods according to the actual inspection process of the multi-rotor unmanned aerial vehicle and calculating reducible ranges of the two methods;
s2: classifying the components to be detected, and establishing a viewpoint reduction rule for the components to be detected without a fixed shooting plane;
s3: establishing a fixed shooting plane and a viewpoint reduction rule of the shooting plane on the same plane;
s4: establishing a fixed shooting plane and a viewpoint reduction rule that the shooting planes are not on the same plane;
the two viewpoint reduction methods in step S1 are specifically:
s11, when shooting a certain component to be tested, the multi-rotor unmanned aerial vehicle judges whether other components to be tested are in the same shooting range;
s12, giving the optimal shooting range of the unmanned aerial vehicle according to the size, the focal length and the shooting distance of a sensor of the airborne camera, and then judging components to be detected on the electric power tower in the shooting range;
establishing a space relative coordinate system by taking the center of a tower footing of the electric tower as an origin of coordinates, and assuming that the space coordinate of the component A to be tested is (0, y)A,zA) Width of component is WAHeight of HA；
The first method is as follows: the focal length of the airborne camera is a zoom lens;
when the component A to be measured is shot, an airborne camera of the multi-rotor unmanned aerial vehicle is a zoom lens, and the shooting distance is fixed in order to ensure that an image is clear in the shooting process, and the focal length is preferentially changed for adjustment; when the shooting distance is not less than the initial minimum safe distance LsUnder the conditions of (a) can obtain:
F1＝min{Lsw/W1,Lsh/H1}
wherein w and h are the sensor size, respectively, F1The current shooting focal length of the airborne camera is obtained;
suppose that the variable range of the onboard camera focal length is (F)min,Fmax) If F is1＜FminAt this moment, the airborne camera can not shoot the components and parts to be measured completely, and the maximum range of shooting by the multi-rotor unmanned aerial vehicle is required to be adjusted as follows:
if F1∈(Fmin,Fmax) Then many rotor unmanned aerial vehicle's the scope of can shooing do:
if F1＞FmaxThe minimum scope that many rotor unmanned aerial vehicle shot this moment is:
the focal length of the airborne camera is a fixed-focus lens;
assuming that the focal length of the onboard camera is a fixed value FfixThen, the shooting distance between many rotor unmanned aerial vehicle and the components and parts that await measuring this moment is:
L1＝max{FfixWA/w,FfixHA/h}
if L is1＜LsAt this moment, the constraint condition that the shooting distance should not be less than the initial minimum safe distance is not satisfied by the multi-rotor unmanned aerial vehicle, so the actual shooting distance needs to be increased, and the new shooting range is obtained:
if L is1≥LsThen many rotor unmanned aerial vehicle's shooting scope does:
the second method comprises the following steps: the focal length of the airborne camera is a zoom lens;
when the multi-rotor unmanned aerial vehicle patrols and examines the electric power tower, a certain shooting distance needs to be kept, and meanwhile, all components to be detected need to be clearly shot, so that a large focal length is preferentially used for patrolling and examining shooting; the shooting range of the multi-rotor unmanned aerial vehicle at the maximum focal length is calculated in combination with the sensor size of the onboard camera:
the focal length of the airborne camera is a fixed-focus lens;
regard as the shooting distance with initial minimum safe distance, many rotor unmanned aerial vehicle's shooting distance this moment is:
2. the method for reducing the number of inspection viewpoints of the multi-rotor unmanned aerial vehicle according to claim 1, wherein the components to be tested in the step S2 are classified into two types, namely a non-fixed shooting plane and a fixed shooting plane according to the plane to be tested and the direction of the components to be tested on the power tower; according to the attribute characteristics of the components to be detected without a fixed shooting plane, the viewpoint reduction rule is given by combining the shooting mode of the multi-rotor unmanned aerial vehicle.
3. The multi-rotor unmanned aerial vehicle inspection viewpoint number reduction method according to claim 1, wherein the viewpoint reduction rule of the component to be tested without the fixed shooting plane in step S2 is specifically as follows: such components only need to be completely photographed, and therefore, the corresponding number of viewpoints can be reduced by judging whether the components are in the photographing range.
4. The multi-rotor unmanned aerial vehicle inspection viewpoint number reduction method according to claim 1, wherein the step S3 specifically includes: according to the attribute characteristics that a fixed shooting plane exists and the components and parts to be detected of the shooting plane on the same plane are to be shot, the viewpoint reduction rule is given by combining the shooting mode of the multi-rotor unmanned aerial vehicle.
5. The multi-rotor unmanned aerial vehicle inspection viewpoint number reduction method according to claim 1, wherein the viewpoint reduction rule that the shooting plane is fixed in step S3 and the shooting plane is on the same plane component is specifically as follows: judging whether the components are on the same plane or not, and if not, reducing the components; if the components are on the same plane, the components need to fall within the same imaging range to reduce the viewpoint.
6. The multi-rotor unmanned aerial vehicle inspection viewpoint number reduction method according to claim 1, wherein the step S4 specifically includes: according to the attribute characteristics of the components to be detected with the fixed shooting plane and the shooting plane not on the same plane, the viewpoint reduction rule is given by combining the shooting mode of the multi-rotor unmanned aerial vehicle.
7. The multi-rotor unmanned aerial vehicle inspection viewpoint number reduction method according to claim 1, wherein the viewpoint reduction rule that the shooting plane is fixed and the shooting plane is not on the same plane component in step S4 is specifically as follows: the components which are not on the same plane are combined and shot by adjusting the positions between the unmanned aerial vehicle and the components; also, the components are still required to fall within the same shooting range.
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