CN112484717A - Unmanned aerial vehicle oblique photography route planning method and computer readable storage medium - Google Patents
Unmanned aerial vehicle oblique photography route planning method and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a planning method for an unmanned aerial vehicle oblique photography air route and a computer readable storage medium, wherein the method comprises the following steps: constructing a power distribution network grid current situation three-dimensional scene according to terrain data, image data, building vector data and power grid equipment space data acquired from a power grid GIS platform; determining an aerial survey range; carrying out route planning and parameter setting according to preset flight parameters, flight control influence factors and ground feature characteristics in the aerial survey range, and carrying out space analysis and collision detection to obtain a three-dimensional route; carrying out air route flight simulation on the three-dimensional air route in the current grid state three-dimensional scene of the power distribution network, and verifying the performance of the air route; if the verification fails, adjusting parameters of the three-dimensional route; and if the verification passes, outputting the three-dimensional route. The invention can improve the working efficiency of oblique photography acquisition, greatly reduce the acquisition time and cost and ensure the safety of equipment.
Description
Technical Field
The invention relates to the technical field of route planning, in particular to a method for planning a tilted shooting route of an unmanned aerial vehicle and a computer readable storage medium.
Background
At present, unmanned aerial vehicle route planning mainly has two kinds, and one kind is unmanned aerial vehicle patrols and examines the route planning of task, and one kind is survey and drawing type unmanned aerial vehicle route planning. For mapping type unmanned aerial vehicle route planning facing images, oblique photography and the like, the route planning is carried out by combining a route planning algorithm according to data acquisition requirements, but the route planning adjustment and optimization is not carried out by combining the current situation of an acquisition object, so that the risk that the unmanned aerial vehicle collides with a higher object can be caused in actual acquisition. The unmanned aerial vehicle three-dimensional route planning of the single building fine modeling only carries out route planning on the single building, and does not carry out route planning on large-range geospatial data acquisition such as distribution network grids.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the planning method for the oblique photography air route of the unmanned aerial vehicle and the computer readable storage medium can improve the working efficiency of oblique photography acquisition, greatly reduce the acquisition time and cost and ensure the safety of equipment.
In order to solve the technical problems, the invention adopts the technical scheme that: an unmanned aerial vehicle oblique photography route planning method comprises the following steps:
constructing a power distribution network grid current situation three-dimensional scene according to terrain data, image data, building vector data and power grid equipment space data acquired from a power grid GIS platform;
determining an aerial survey range;
carrying out route planning and parameter setting according to preset flight parameters, flight control influence factors and ground feature characteristics in the aerial survey range, and carrying out space analysis and collision detection to obtain a three-dimensional route;
carrying out air route flight simulation on the three-dimensional air route in the current grid state three-dimensional scene of the power distribution network, and verifying the performance of the air route;
if the verification fails, adjusting the parameters of the three-dimensional route;
and if the verification passes, outputting the three-dimensional route.
The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.
The invention has the beneficial effects that: by planning the oblique photography route of the power distribution network grid unmanned aerial vehicle, the planned acquisition line of the full coverage of the power distribution network grid can be automatically calculated, and the condition that the acquisition is incomplete to cause multiple reworking is avoided, so that the working efficiency of oblique photography acquisition is greatly improved; the number of turns of the unmanned aerial vehicle can be optimized, and the acquisition time is shortened, so that the acquisition time and the acquisition cost are greatly reduced. Through space analysis and collision detection, can effectively avoid on-the-spot collection unmanned aerial vehicle to collide or surpass safe distance and cause the loss with topography, building, electric wire netting equipment etc. and guarantee to gather process personnel and equipment safety.
Drawings
Fig. 1 is a flowchart of a method for planning an oblique photography route of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to explain technical contents, objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1, a method for planning an oblique photography route of an unmanned aerial vehicle includes:
constructing a power distribution network grid current situation three-dimensional scene according to terrain data, image data, building vector data and power grid equipment space data acquired from a power grid GIS platform;
determining an aerial survey range;
carrying out route planning and parameter setting according to preset flight parameters, flight control influence factors and ground feature characteristics in the aerial survey range, and carrying out space analysis and collision detection to obtain a three-dimensional route;
carrying out air route flight simulation on the three-dimensional air route in the current grid state three-dimensional scene of the power distribution network, and verifying the performance of the air route;
if the verification fails, adjusting the parameters of the three-dimensional route;
and if the verification passes, outputting the three-dimensional route.
From the above description, the beneficial effects of the present invention are: the oblique photography acquisition work efficiency can be improved, the acquisition time and the acquisition cost are greatly reduced, and the equipment safety is ensured.
Further, the constructing of the power distribution network grid current situation three-dimensional scene according to the terrain data, the image data, the building vector data and the power distribution network equipment space data acquired from the power distribution network GIS platform specifically comprises:
acquiring terrain data and image data from a power grid GIS platform, and constructing a current three-dimensional basic terrain image scene according to the terrain data and the image data;
building vector data are obtained from a power grid GIS platform, and a building three-dimensional scene is generated according to the building vector data and the height data of a building;
acquiring power grid equipment spatial data from a power grid GIS platform, and generating a three-dimensional scene of the power grid equipment according to the power grid equipment spatial data and account information of the power grid equipment;
and generating the power distribution network grid current situation three-dimensional scene according to the current situation three-dimensional basic terrain image scene, the building three-dimensional scene, the power distribution network equipment three-dimensional scene and a preset power distribution network grid range.
From the above description, it can be known that, for the precision oblique photography three-dimensional modeling of the grid data of the power distribution network, a relatively complete building unit and a power distribution network equipment module can be constructed by a method only by considering the planning of data acquisition routes of surrounding buildings, especially power distribution network equipment at various angles.
Further, the determining the aerial survey range specifically includes:
selecting a power distribution network grid to be subjected to aerial survey on a GIS platform, and taking a power distribution network grid range corresponding to the power distribution network grid to be subjected aerial survey as an aerial survey range;
or setting an aerial survey range in the three-dimensional scene of the grid current situation of the power distribution network.
According to the description, the power distribution network grid automatic generation aerial survey range can be selected, the range automatic calculation is accurate, the aerial survey range can be set in a user-defined mode, and the setting of the mode is flexible.
Further, according to preset flight parameters, flight control influence factors and ground feature characteristics in the aerial survey range, the route planning and parameter setting are carried out, the space analysis and the collision detection are carried out, and the three-dimensional route is obtained specifically as follows:
carrying out route planning and parameter setting according to preset flight parameters and flight control influence factors and the characteristics of the terrain, buildings and ground objects of power distribution network equipment in the aerial survey range to obtain a three-dimensional route, wherein the flight parameters comprise flight height, flight speed, shooting interval, course interval and lateral interval, and the flight control influence factors comprise flight control distance, battery consumption, acquisition time, terrain and landform, building distribution, power grid equipment distribution and measurement accuracy;
constructing a route acquisition range buffer area according to the three-dimensional route, and constructing a building safe distance buffer area;
judging whether the route acquisition range buffer area and the building safety distance buffer area are crossed or not;
if so, correcting the three-dimensional route;
simulating an unmanned aerial vehicle model according to a preset proportion, and simulating the unmanned aerial vehicle model to fly on the three-dimensional air route;
detecting whether the unmanned aerial vehicle model collides with a three-dimensional model of terrain, a building or power grid equipment or not;
and if the collision happens, correcting the three-dimensional route.
According to the above description, through space analysis and collision detection, the situation that the field acquisition unmanned aerial vehicle collides with the terrain, buildings, power grid equipment and the like or exceeds a safe distance to cause loss can be effectively avoided, and the safety of acquisition process personnel and equipment is ensured.
Further, the route performance includes closure integrity, flight clearance, maneuver rationality, and flight safety;
verifying closure integrity specifically comprises: judging whether the three-dimensional air route is completely closed;
the verification of the flight smoothness specifically comprises the following steps: judging whether the three-dimensional air route has a no-fly area or a dangerous area or not, and whether the three-dimensional air route is smooth and reasonable or not;
the verification of the maneuvering rationality specifically comprises the following steps: detecting take-off, landing, maneuvering turning and circling movement in the flight simulation process of the flight line, and judging whether the flight line is correct or not;
the verification of the flight safety specifically comprises: and carrying out space analysis and collision detection in the course of flight simulation of the air route to judge whether the air route is safe or not.
As can be seen from the above description, the unmanned aerial vehicle oblique photography acquisition three-dimensional planning route can be further optimized.
The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.
Example one
Referring to fig. 1, a first embodiment of the present invention is: a method for planning an unmanned aerial vehicle oblique photography route is based on a power grid GIS platform and can be applied to unmanned aerial vehicle oblique aerial survey. As shown in fig. 1, the method comprises the following steps:
s1: and constructing a three-dimensional scene of the grid current situation of the power distribution network according to the terrain data, the image data, the building vector data and the power grid equipment space data which are acquired from the power grid GIS platform.
Specifically, high-precision terrain data and image data are obtained from a power grid GIS platform, and a current three-dimensional basic terrain image scene is constructed; acquiring building isovector data from a power grid GIS platform, and simulating in batches to generate a building three-dimensional scene by combining the building floor number and the building height or combining the building height; spatial data such as power grid equipment are acquired from a power grid GIS platform, and a three-dimensional scene of the power grid equipment is generated in a simulation mode by combining PM2.0 power grid equipment account information.
The power grid GIS platform has power distribution network grid spatial distribution data, and automatically generates a power distribution network grid range according to power distribution network grid geographic spatial distribution. In this embodiment, 100m is buffered again in the original range to serve as the grid acquisition range of the distribution network.
And according to the grid acquisition range of the power distribution network, fusing the current three-dimensional basic terrain image scene, the building three-dimensional scene and the power grid equipment three-dimensional scene to form the current three-dimensional scene of the grid of the power distribution network.
S2: and determining the aerial survey range.
Specifically, a power distribution network grid needing aerial survey is selected on the power distribution network GIS platform, and a power distribution network grid range is automatically generated through power distribution network grid geographic spatial distribution, or an aerial survey range is set on a power distribution network grid current situation three-dimensional scene of the power distribution network GIS platform in a self-defined mode.
S3: and planning and setting parameters of the flight path according to preset flight parameters, flight control influence factors and ground feature characteristics in the aerial survey range, and performing spatial analysis and collision detection to obtain the three-dimensional flight path.
Flight parameters of the oblique aerial survey comprise flight height, flight speed, shooting interval, course distance, lateral distance and the like, and different parameter settings affect the accuracy, efficiency and the like of the aerial survey. Flight control influence factors such as flight control distance, battery consumption, acquisition time, landform, building distribution, power grid equipment distribution and measurement accuracy are comprehensively considered, and flight path planning and parameter setting are carried out according to the characteristics of different ground objects such as the ground, the building and the power grid equipment, so that the flight height, the ground resolution and the physical pixel size meet the triangular proportional relation.
Specifically, in the embodiment, when the oblique photography task is performed, the heading overlap degree is 80%, the sidewise overlap degree is 60%, the flight height (flight altitude) generally controls the setting of 2 times of local buildings and power distribution network equipment, and the ground resolution is about 2-3 cm; the course coverage must exceed the boundary line of the measuring area by more than 100 m. When aerial photography bugs are subjected to complementary photography, aerial photography cameras of the same type are recommended to be used, two ends of a complementary photography route are guaranteed to exceed 2 baselines outside the bugs, and the flight time of the unmanned aerial vehicle is generally not more than 1 h.
Furthermore, an algorithm program for realizing automatic three-dimensional route planning can be designed, and the three-dimensional route can be automatically calculated through the algorithm program.
And then carrying out space analysis and collision detection on the planned three-dimensional route.
Wherein, the spatial analysis specifically comprises: constructing a route acquisition range buffer area according to the three-dimensional route, and constructing a building safe distance buffer area; and judging whether the two buffer areas are crossed or not, and if so, correcting the three-dimensional route.
The collision detection specifically comprises: the method comprises the steps of simulating an unmanned aerial vehicle model according to the proportion of 1:1, then simulating the unmanned aerial vehicle model to fly on a three-dimensional air route, detecting whether collision is generated between the unmanned aerial vehicle model and three-dimensional models such as terrain, buildings, power grid equipment and the like, and if the collision exists, correcting the three-dimensional air route.
S4: and performing route flight simulation on the three-dimensional route in the current three-dimensional scene of the grid of the power distribution network, verifying the route performance, judging whether the verification is passed, if so, executing the step S5, and if not, executing the step S6.
In the power distribution network grid current situation three-dimensional scene, simulating unmanned aerial vehicle aerial survey operation through three-dimensional route POS data (including longitude and latitude, height, altitude, flight direction and flight attitude), carrying out simulation verification, further optimizing unmanned aerial vehicle oblique photography and collecting a three-dimensional planning route, and outputting the planning route.
Specifically, according to the route information of the three-dimensional route, the three-dimensional route is simulated in a three-dimensional mode, namely, a three-dimensional route simulation is automatically generated in the current three-dimensional scene of the grid of the power distribution network, and the route flight simulation is carried out in a virtual background, so that the following performances of the three-dimensional route are verified:
a) closure integrity: whether the three-dimensional air route is completely closed or not and whether the three-dimensional air route can safely land from take-off to flying back to the airport or not;
b) flight smoothness: whether a no-fly area or a dangerous area exists in the flight process of the whole flight path or not and whether the flight path is smooth or not is reasonable, so that the generation of a round-trip fold line by calculation is avoided;
c) maneuvering rationality: checking whether the takeoff, landing, maneuvering turning and circling movement in the flight process of the whole flight line is correct or not;
d) flight safety: the safe distance is analyzed in the space of the whole flight line in the flight process, and the collision detection of the aircraft and the flight area dividing object is carried out to judge whether the aircraft is safe or not, so that the flight accident is avoided.
S5: and outputting the three-dimensional route.
S6: and adjusting parameters of the three-dimensional route. Further, the course flight simulation is continued after the adjustment, that is, step S4 is executed.
According to the embodiment, the planning of the oblique photography route of the unmanned aerial vehicle in the distribution network grid range is optimized by utilizing the existing three-dimensional GIS data, space analysis, collision detection and the like of the power grid GIS platform, and the accurate oblique photography three-dimensional modeling aiming at the distribution network grid data can be realized. By planning the oblique photography route of the power distribution network grid unmanned aerial vehicle, the planned acquisition line of the full coverage of the power distribution network grid can be automatically calculated, and the condition that the acquisition is incomplete to cause multiple reworking is avoided, so that the working efficiency of oblique photography acquisition is greatly improved; the number of turns of the unmanned aerial vehicle can be optimized, and the acquisition time is shortened, so that the acquisition time and the acquisition cost are greatly reduced. Through space analysis and collision detection, can effectively avoid on-the-spot collection unmanned aerial vehicle to collide or surpass safe distance and cause the loss with topography, building, electric wire netting equipment etc. and guarantee to gather process personnel and equipment safety.
Example two
The present embodiment is a computer-readable storage medium corresponding to the above-mentioned embodiments, on which a computer program is stored, which when executed by a processor implements the steps of:
constructing a power distribution network grid current situation three-dimensional scene according to terrain data, image data, building vector data and power grid equipment space data acquired from a power grid GIS platform;
determining an aerial survey range;
carrying out route planning and parameter setting according to preset flight parameters, flight control influence factors and ground feature characteristics in the aerial survey range, and carrying out space analysis and collision detection to obtain a three-dimensional route;
carrying out air route flight simulation on the three-dimensional air route in the current grid state three-dimensional scene of the power distribution network, and verifying the performance of the air route;
if the verification fails, adjusting the parameters of the three-dimensional route;
and if the verification passes, outputting the three-dimensional route.
Further, the constructing of the power distribution network grid current situation three-dimensional scene according to the terrain data, the image data, the building vector data and the power distribution network equipment space data acquired from the power distribution network GIS platform specifically comprises:
acquiring terrain data and image data from a power grid GIS platform, and constructing a current three-dimensional basic terrain image scene according to the terrain data and the image data;
building vector data are obtained from a power grid GIS platform, and a building three-dimensional scene is generated according to the building vector data and the height data of a building;
acquiring power grid equipment spatial data from a power grid GIS platform, and generating a three-dimensional scene of the power grid equipment according to the power grid equipment spatial data and account information of the power grid equipment;
and generating the power distribution network grid current situation three-dimensional scene according to the current situation three-dimensional basic terrain image scene, the building three-dimensional scene, the power distribution network equipment three-dimensional scene and a preset power distribution network grid range.
Further, the determining the aerial survey range specifically includes:
selecting a power distribution network grid to be subjected to aerial survey on a GIS platform, and taking a power distribution network grid range corresponding to the power distribution network grid to be subjected aerial survey as an aerial survey range;
or setting an aerial survey range in the three-dimensional scene of the grid current situation of the power distribution network.
Further, according to preset flight parameters, flight control influence factors and ground feature characteristics in the aerial survey range, the route planning and parameter setting are carried out, the space analysis and the collision detection are carried out, and the three-dimensional route is obtained specifically as follows:
carrying out route planning and parameter setting according to preset flight parameters and flight control influence factors and the characteristics of the terrain, buildings and ground objects of power distribution network equipment in the aerial survey range to obtain a three-dimensional route, wherein the flight parameters comprise flight height, flight speed, shooting interval, course interval and lateral interval, and the flight control influence factors comprise flight control distance, battery consumption, acquisition time, terrain and landform, building distribution, power grid equipment distribution and measurement accuracy;
constructing a route acquisition range buffer area according to the three-dimensional route, and constructing a building safe distance buffer area;
judging whether the route acquisition range buffer area and the building safety distance buffer area are crossed or not;
if so, correcting the three-dimensional route;
simulating an unmanned aerial vehicle model according to a preset proportion, and simulating the unmanned aerial vehicle model to fly on the three-dimensional air route;
detecting whether the unmanned aerial vehicle model collides with a three-dimensional model of terrain, a building or power grid equipment or not;
and if the collision happens, correcting the three-dimensional route.
Further, the route performance includes closure integrity, flight clearance, maneuver rationality, and flight safety;
verifying closure integrity specifically comprises: judging whether the three-dimensional air route is completely closed;
the verification of the flight smoothness specifically comprises the following steps: judging whether the three-dimensional air route has a no-fly area or a dangerous area or not, and whether the three-dimensional air route is smooth and reasonable or not;
the verification of the maneuvering rationality specifically comprises the following steps: detecting take-off, landing, maneuvering turning and circling movement in the flight simulation process of the flight line, and judging whether the flight line is correct or not;
the verification of the flight safety specifically comprises: and carrying out space analysis and collision detection in the course of flight simulation of the air route to judge whether the air route is safe or not.
In summary, according to the unmanned aerial vehicle oblique photography route planning method and the computer-readable storage medium provided by the invention, through the power distribution grid unmanned aerial vehicle oblique photography route planning, a planned acquisition route which is fully covered by a power distribution grid can be automatically calculated, and multiple reworking caused by incomplete acquisition is avoided, so that the oblique photography acquisition work efficiency is greatly improved; the number of turns of the unmanned aerial vehicle can be optimized, and the acquisition time is shortened, so that the acquisition time and the acquisition cost are greatly reduced. Through space analysis and collision detection, can effectively avoid on-the-spot collection unmanned aerial vehicle to collide or surpass safe distance and cause the loss with topography, building, electric wire netting equipment etc. and guarantee to gather process personnel and equipment safety.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (6)
1. An unmanned aerial vehicle oblique photography route planning method is characterized by comprising the following steps:
constructing a power distribution network grid current situation three-dimensional scene according to terrain data, image data, building vector data and power grid equipment space data acquired from a power grid GIS platform;
determining an aerial survey range;
carrying out route planning and parameter setting according to preset flight parameters, flight control influence factors and ground feature characteristics in the aerial survey range, and carrying out space analysis and collision detection to obtain a three-dimensional route;
carrying out air route flight simulation on the three-dimensional air route in the current grid state three-dimensional scene of the power distribution network, and verifying the performance of the air route;
if the verification fails, adjusting the parameters of the three-dimensional route;
and if the verification passes, outputting the three-dimensional route.
2. The unmanned aerial vehicle oblique photography route planning method according to claim 1, wherein the construction of the power distribution network grid current situation three-dimensional scene according to the terrain data, the image data, the building vector data and the power grid equipment space data acquired from the power grid GIS platform specifically comprises:
acquiring terrain data and image data from a power grid GIS platform, and constructing a current three-dimensional basic terrain image scene according to the terrain data and the image data;
building vector data are obtained from a power grid GIS platform, and a building three-dimensional scene is generated according to the building vector data and the height data of a building;
acquiring power grid equipment spatial data from a power grid GIS platform, and generating a three-dimensional scene of the power grid equipment according to the power grid equipment spatial data and account information of the power grid equipment;
and generating the power distribution network grid current situation three-dimensional scene according to the current situation three-dimensional basic terrain image scene, the building three-dimensional scene, the power distribution network equipment three-dimensional scene and a preset power distribution network grid range.
3. The method for planning the oblique photography route of an unmanned aerial vehicle according to claim 1, wherein the determining the aerial survey range specifically comprises:
selecting a power distribution network grid to be subjected to aerial survey on a GIS platform, and taking a power distribution network grid range corresponding to the power distribution network grid to be subjected aerial survey as an aerial survey range;
or setting an aerial survey range in the three-dimensional scene of the grid current situation of the power distribution network.
4. The unmanned aerial vehicle oblique photography route planning method according to claim 1, wherein the route planning and parameter setting are performed according to preset flight parameters and flight control influence factors, and the ground feature characteristics in the aerial survey range, and the space analysis and the collision detection are performed to obtain a three-dimensional route, specifically:
carrying out route planning and parameter setting according to preset flight parameters and flight control influence factors and the characteristics of the terrain, buildings and ground objects of power distribution network equipment in the aerial survey range to obtain a three-dimensional route, wherein the flight parameters comprise flight height, flight speed, shooting interval, course interval and lateral interval, and the flight control influence factors comprise flight control distance, battery consumption, acquisition time, terrain and landform, building distribution, power grid equipment distribution and measurement accuracy;
constructing a route acquisition range buffer area according to the three-dimensional route, and constructing a building safe distance buffer area;
judging whether the route acquisition range buffer area and the building safety distance buffer area are crossed or not;
if so, correcting the three-dimensional route;
simulating an unmanned aerial vehicle model according to a preset proportion, and simulating the unmanned aerial vehicle model to fly on the three-dimensional air route;
detecting whether the unmanned aerial vehicle model collides with a three-dimensional model of terrain, a building or power grid equipment or not;
and if the collision happens, correcting the three-dimensional route.
5. The unmanned aerial vehicle oblique photography route planning method of claim 1, wherein the route performance includes closure integrity, flight smoothness, maneuver rationality, and flight safety;
verifying closure integrity specifically comprises: judging whether the three-dimensional air route is completely closed;
the verification of the flight smoothness specifically comprises the following steps: judging whether the three-dimensional air route has a no-fly area or a dangerous area or not, and whether the three-dimensional air route is smooth and reasonable or not;
the verification of the maneuvering rationality specifically comprises the following steps: detecting take-off, landing, maneuvering turning and circling movement in the flight simulation process of the flight line, and judging whether the flight line is correct or not;
the verification of the flight safety specifically comprises: and carrying out space analysis and collision detection in the course of flight simulation of the air route to judge whether the air route is safe or not.
6. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the steps of the method according to any one of claims 1-5.
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| CN114527782A (en) * | 2021-11-19 | 2022-05-24 | 嘉兴恒创电力设计研究院有限公司 | Unmanned aerial vehicle flight path planning method and system based on power grid map |
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| CN113485438A (en) * | 2021-07-30 | 2021-10-08 | 南京石知韵智能科技有限公司 | Intelligent planning method and system for space monitoring path of unmanned aerial vehicle |
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