CN113741490A - Inspection method, inspection device, aircraft and storage medium - Google Patents
Inspection method, inspection device, aircraft and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention discloses a polling method, a polling device, an aircraft and a storage medium, wherein the polling method comprises the following steps: acquiring a three-dimensional navigation map, a set route track and a task attribute set of a target area; the task attribute set comprises tasks to be completed for target objects of each key point on the route track; based on the air route track and the three-dimensional navigation map is executed in the task process with concentrated task attributes, if the aircraft is detected to encounter abnormal conditions, the three-dimensional navigation map and the current position information of the aircraft are used for planning a return route or replanning the air route track, so that the influence of the abnormal conditions on the execution of the inspection task of the aircraft can be reduced, the problem that the existing aircraft cannot safely return when encountering the abnormal conditions can be solved, and the return efficiency of the aircraft and the safety of the aircraft in the flight process can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of flight, in particular to a patrol method, a patrol device, an aircraft and a storage medium.
Background
With the continuous development of aircraft technology, the aircraft has been gradually applied to inspection work (for example, inspection work on power transmission equipment, pipelines, vegetation, and the like), and workers can use the aircraft to complete inspection on inspection objects.
The method comprises the following steps that an aircraft possibly encounters abnormal conditions in the process of executing a routing inspection task, such as an obstacle or insufficient electric quantity of the aircraft, and the like, and the conventional aircraft usually has two processing methods after encountering the abnormal conditions, wherein the first method is to enable the aircraft to keep hovering, need manual intervention to take over, and then control the aircraft to return to a flying point; the second method is to control the aircraft to return to the original route of the flying track, so as to return to the flying point.
The first method easily causes the problem that the aircraft cannot safely return, so that the aircraft is damaged or the inspected facility is damaged; the second method, although capable of returning, may suffer from problems such as low return efficiency.
Disclosure of Invention
The embodiment of the invention provides a polling method, a polling device, an aircraft and a storage medium, which can reduce the influence of abnormal conditions on polling tasks executed by the aircraft, solve the problem that the existing aircraft cannot safely return when encountering the abnormal conditions, and improve the return efficiency of the aircraft and the safety of the aircraft in the flight process.
In a first aspect, an embodiment of the present invention provides a polling method, where the polling method includes:
acquiring a three-dimensional navigation map, a set route track and a task attribute set of a target area; the task attribute set comprises tasks to be completed for target objects of each key point on the route track;
and in the process of executing the task in the task attribute set based on the air route track and the three-dimensional navigation map, if the aircraft is detected to encounter an abnormal condition, planning a return route or re-planning the air route track based on the three-dimensional navigation map and the current position information of the aircraft.
Optionally, planning a return route based on the three-dimensional navigation map and the current position information of the aircraft includes: determining a remaining time of flight of the aircraft; determining a return path based on the three-dimensional navigation map and current location information of the aircraft; determining a return time of the aircraft based on the return path and the speed of the aircraft; judging whether the residual flight time is greater than the return flight time; if not, returning to the operation of determining the return route based on the three-dimensional navigation map and the current position information of the aircraft until the residual flight time is greater than the return time, and taking the return route corresponding to the residual flight time greater than the return time as the final return route.
Optionally, replanning the route trajectory based on the three-dimensional navigation map and the current position information of the aircraft includes: determining a remaining time of flight of the aircraft; re-determining a target course trajectory from a current position to the course destination based on the three-dimensional navigation map and current position information of the aircraft; determining a target inspection time of the aircraft based on the target course trajectory and the speed of the aircraft; judging whether the residual flight time is greater than the target inspection time or not; if not, returning to the operation of re-determining the target route track from the current position to the route end point based on the three-dimensional navigation map and the current position information of the aircraft until the remaining flight time is greater than the target inspection time, and taking the corresponding target route track when the remaining flight time is greater than the target inspection time as the final target route track.
Optionally, the method further includes: acquiring three-dimensional point cloud data of the target area, and generating a three-dimensional point cloud map of the target area according to the three-dimensional point cloud data; wherein the point cloud map adopts a global navigation coordinate system; and converting the point cloud map into an octree map and using the octree map as a three-dimensional navigation map.
Optionally, the method further includes: marking at least one target object included in the target area in the three-dimensional navigation map, and generating the route track according to the coordinate information of the marked target object.
Optionally, the task attribute set includes execution attribute information corresponding to the task to be completed executed on each target object and position information of the target object, where the attribute information includes attitude information of the aircraft.
Optionally, if it is detected that the aircraft encounters an abnormal condition, planning a return route or re-planning the route track based on the three-dimensional navigation map and the current position information of the aircraft, including: if the fact that the aircraft encounters the obstacle is detected, whether the aircraft can successfully bypass the obstacle is judged; if not, planning a return route based on the three-dimensional navigation map, the current position information of the aircraft and the starting point position information of the aircraft; and if so, planning a detour route track based on the three-dimensional navigation map and the current position information of the aircraft.
Optionally, planning a return route based on the three-dimensional navigation map and the current position information of the aircraft includes: determining a return direction according to the three-dimensional navigation map; determining an initial course track based on the return direction and the point cloud data; determining the position of a reference point, and expanding the reference point in a three-dimensional manner by a first preset radius to form a safety zone of the reference point; the reference points comprise key points and position points where the obstacles are located; and when the initial route track passes through the safe area, adjusting the initial route track until the initial route track is out of the safe area, and taking the adjusted initial route track as a return route.
Optionally, the adjusting the initial route trajectory until it is outside the safe area includes: determining a safety spherical surface by taking the reference point as a center and a second preset radius, wherein the second preset radius is larger than the first preset radius; and determining two intersected points of the initial route track and the safety spherical surface, and taking an arc connecting the two points on the safety spherical surface as a part of the adjusted initial route track.
Optionally, if it is detected that the aircraft encounters an abnormal condition, planning a return route or re-planning the route track based on the three-dimensional navigation map and the current position information of the aircraft, including: and if the electric quantity of the aircraft is detected to be insufficient, planning a return route based on the three-dimensional navigation map, the current position information of the aircraft and the starting point position information of the aircraft.
Optionally, if it is detected that the aircraft encounters an abnormal condition, planning a return route or re-planning the route track based on the three-dimensional navigation map and the current position information of the aircraft, including: if the situation that the aircraft encounters an abnormal situation is detected, planning a return route or re-planning the route track by adopting a preset route planning algorithm based on the three-dimensional navigation map and the current position information of the aircraft; the preset path planning algorithm comprises a path search algorithm or a vector field histogram algorithm.
In a second aspect, an embodiment of the present invention further provides an inspection device, where the inspection device includes:
the acquisition module is used for acquiring a three-dimensional navigation map of a target area, a set air route track and a task attribute set; the task attribute set comprises tasks to be completed for target objects of each key point on the route track;
and the path planning module is used for planning a return path or replanning the route track based on the three-dimensional navigation map and the current position information of the aircraft if the aircraft is detected to encounter an abnormal condition in the process of executing the task in the task attribute set based on the route track and the three-dimensional navigation map.
In a third aspect, an embodiment of the present invention further provides an aircraft, where the aircraft includes:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement a patrol method provided by any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the computer program implements an inspection method provided in any embodiment of the present invention.
The technical scheme of the embodiment of the invention obtains a three-dimensional navigation map, a set air route track and a task attribute set of a target area; and in the process of executing the task in the task attribute set based on the air route track and the three-dimensional navigation map, if the aircraft is detected to encounter an abnormal condition, planning a return route or re-planning the air route track based on the three-dimensional navigation map and the current position information of the aircraft. The technical scheme of the embodiment of the invention can reduce the influence of abnormal conditions on the inspection task of the aircraft, solve the problem that the conventional aircraft cannot safely return when encountering the abnormal conditions, and improve the return efficiency of the aircraft and the safety of the aircraft in the flight process.
Drawings
Fig. 1a is a flowchart of a polling method according to a first embodiment of the present invention;
fig. 1b is a flowchart of a method for planning a return path according to a first embodiment of the present invention;
FIG. 1c is a flowchart of a method for re-planning a course trajectory according to a first embodiment of the present invention;
fig. 2a is a flowchart of a polling method in the second embodiment of the present invention;
fig. 2b is a flowchart of a method for planning a return path according to a second embodiment of the present invention;
FIGS. 2 c-2 e are schematic diagrams illustrating the formation of a return path according to a second embodiment of the present invention;
fig. 3 is a flowchart of a polling method in the third embodiment of the present invention;
fig. 4 is a flowchart of a polling method in the fourth embodiment of the present invention;
fig. 5 is a structural diagram of an inspection apparatus in the fifth embodiment of the present invention;
fig. 6 is a schematic structural view of an aircraft according to a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. The conventional aircraft encounters abnormal conditions in the process of executing the inspection task, such as an obstacle or insufficient electric quantity of the aircraft. In the related art, when an obstacle is encountered by an aircraft, one situation is that the aircraft is kept hovering after encountering the obstacle by means of only an onboard sensor, and manual intervention is required for taking over and then returning to a flying starting point. However, it is not practical for a deployment aircraft to take over manually. Because, no one can remotely control the aircraft; another solution is that after the aircraft encounters an obstacle, the aircraft returns back to the departure point according to the original route of the already flown trajectory. Thus, it can be seen from the above description that the first solution brings about the disadvantage of being fatal, because the problem of the inability of the aircraft to safely return may result in damage to the aircraft or damage to the facilities being inspected. The second solution, however, may suffer from insufficient power and low efficiency. The method provided by the embodiment of the invention can ensure that the aircraft safely returns, avoid the problem that the aircraft is damaged or the inspected facility is damaged, and also avoid the influence of abnormal conditions on the inspection task executed by the aircraft.
Example one
Fig. 1a is a flowchart of an inspection method according to an embodiment of the present invention, where this embodiment is applicable to a case where an aircraft executes an inspection task according to a pre-planned route trajectory and a task attribute set, and optionally, the method according to the embodiment of the present invention may be applicable to a scenario where the aircraft encounters an abnormal situation during the execution of the inspection task, and the method may be executed by an inspection device, where the inspection device may be implemented by software and/or hardware, and may be generally integrated in the aircraft, and specifically includes the following steps:
In the step, the target area is an inspection area, the route track is an aircraft navigation route preset according to a plurality of inspection objects before the aircraft starts to execute an inspection task, wherein the inspection objects are also called target objects in the process of executing the inspection task by the aircraft, and the positions of the target objects are key points in the process of executing the inspection task by the aircraft. The task attribute set comprises tasks to be completed for the target object of each key point on the route track. The aircraft can be an unmanned aerial vehicle, the tasks to be completed for the target object of each key point on the flight path track can be execution attribute information corresponding to the tasks to be completed for each target object, the attribute information comprises attitude information of the aircraft, and the attitude information comprises a holder angle, course information and the like when the aircraft flies to the current target object. Optionally, the task attribute set may further include location information of the target object and a type of the target object, where the location information of the target object may be latitude and longitude information of the target object, and the type of the target object may be a name of the target object, such as a power tower, an insulator, or a jumper string.
In this embodiment, the three-dimensional navigation map may be a point cloud map of a target area, or may be another map used for navigation and positioning of an aircraft. The navigation map, the set air route track and the task attribute set of the target area can be sent to the aircraft through the cloud end, and can also be directly copied in the aircraft. The three-dimensional navigation map shows three-dimensional characteristics of the target area, and the aircraft can be guided to sequentially patrol each target object along the direction of the air route track through the three-dimensional navigation map, so that the aircraft can accurately fly according to the air route track.
And 120, planning a return route or re-planning the route track based on the three-dimensional navigation map and the current position information of the aircraft if the aircraft is detected to encounter an abnormal condition in the process of executing the task in the task attribute set based on the route track and the three-dimensional navigation map.
In the process of executing the task with the concentrated task attributes based on the air route track and the three-dimensional navigation map, the abnormal condition can be that the aircraft meets an obstacle or the aircraft cannot continuously complete the inspection task due to insufficient electric quantity, or the firmware in the aircraft breaks down and the like. In the embodiment of the invention, when the abnormal condition of the aircraft is detected, if the aircraft can overcome the abnormal condition, the air route track can be re-planned based on the three-dimensional navigation map, the current position information of the aircraft and the terminal position information of the aircraft, so that the aircraft can continuously execute the inspection task, and the influence of the abnormal condition on the execution of the inspection task by the aircraft is reduced.
In the embodiment of the invention, when the aircraft can not complete the routing inspection task in an abnormal condition, a return path closest to the starting point of the aircraft is planned based on the three-dimensional navigation map, the current position information of the aircraft and the starting point position information of the aircraft, and compared with the prior art that the aircraft needs to be manually taken over after the abnormal condition is met, the problem that the aircraft can not safely return due to manual remote control of the aircraft can be solved, and the safety of the aircraft in the flight process can be improved; compared with the prior art that the aircraft returns along the original path after encountering an abnormal condition, the planned return path in the embodiment of the invention is shorter, and can return to the starting point of the aircraft as soon as possible, so that the return efficiency of the aircraft can be improved.
According to the technical scheme of the embodiment of the invention, by acquiring the three-dimensional navigation map of the target area, the set air route track and the task attribute set, if the aircraft is detected to encounter an abnormal condition in the process of executing the task in the task attribute set based on the air route track and the three-dimensional navigation map, the return route is planned or the air route track is re-planned based on the three-dimensional navigation map and the current position information of the aircraft. The technical scheme of the embodiment of the invention can reduce the influence of abnormal conditions on the inspection task of the aircraft, solve the problem that the conventional aircraft cannot safely return when encountering the abnormal conditions, and improve the return efficiency of the aircraft and the safety of the aircraft in the flight process.
Fig. 1b is a flowchart of a method for planning a return path according to an embodiment of the present invention, which specifically includes the following steps:
and step 1001, determining the remaining flight time of the aircraft.
In this embodiment, the remaining time that the aircraft is capable of flying is determined based on the remaining capacity of the aircraft and operating parameters of the aircraft (e.g., the speed and load of the aircraft, etc.).
In this step, a return route is planned using a preset route planning algorithm (e.g., a route search algorithm or a vector field histogram algorithm) based on the three-dimensional navigation map, the current position information of the aircraft, and the start point position information of the aircraft.
And 1003, determining the return flight time of the aircraft based on the return flight path and the speed of the aircraft.
In this step, the path length of the return path is divided by the speed of the aircraft to obtain the return time of the aircraft.
And 1004, judging whether the residual flight time is greater than the return flight time. If yes, go to step 1005; if not, return to step 1002. In this embodiment, if the remaining flight time is greater than the return flight time, it indicates that the aircraft can safely return to the starting point, and otherwise, it indicates that the aircraft is likely to have electric quantity exhaustion in the return flight process, so that the aircraft cannot safely return.
And 1005, taking the corresponding return path when the residual flight time is greater than the return time as a final return path.
In one implementation manner of the embodiment of the present invention, it is preferable that when the remaining flight time is greater than a product of the return time and a set proportionality coefficient, a return path corresponding to the return time is used as a final return path. Wherein the set scaling factor may be 2. Therefore, the aircraft can return to the starting point in the residual flight time, and the return safety of the aircraft is ensured.
Fig. 1c is a flowchart of a method for replanning a route trajectory according to an embodiment of the present invention, which specifically includes the following steps:
And 1012, re-determining the target route track from the current position to the route terminal point based on the three-dimensional navigation map and the current position information of the aircraft.
In this step, a target route trajectory is determined by using a preset path planning algorithm (for example, a path search algorithm or a vector field histogram algorithm) based on the three-dimensional navigation map, the current position information of the aircraft, and the destination position information of the aircraft.
And 1013, determining the target inspection time of the aircraft based on the target route track and the speed of the aircraft.
In the step, the track length of the target route track is divided by the speed of the aircraft to obtain the target inspection time of the aircraft.
And 1014, judging whether the residual flight time is greater than the target inspection time. If yes, go to step 1015; if not, return to step 1012.
In this embodiment, if the remaining flight time is greater than the target inspection time, it indicates that the aircraft can complete the inspection task within the remaining flight time, and otherwise, it indicates that the aircraft is prone to power exhaustion, so that the inspection task cannot be completed safely.
And step 1015, taking the target route track corresponding to the residual flight time greater than the target inspection time as the final target route track.
Therefore, the remaining flight time of the aircraft is determined, the target airline track from the current position to the airline destination is re-determined based on the three-dimensional navigation map and the current position information of the aircraft, the target inspection time of the aircraft is determined based on the target airline track and the speed of the aircraft, and the corresponding target airline track when the remaining flight time is larger than the target inspection time is used as the final target airline track, so that the aircraft can finish the inspection task in the remaining flight time, and the inspection safety of the aircraft is further ensured.
Example two
On the basis of the first embodiment, the present embodiment provides a specific implementation manner for planning a return route or replanning the route trajectory based on the three-dimensional navigation map and the current position information of the aircraft if it is detected that the aircraft encounters an obstacle, which is the same as or corresponding to the explanation of terms in the above embodiment, and is not repeated in this embodiment. Fig. 2a is a flowchart of a polling method according to a second embodiment of the present invention, in this embodiment, the technical solution of this embodiment may be combined with one or more methods in the solutions of the foregoing embodiments, and in this embodiment, as shown in fig. 2a, the method according to the second embodiment of the present invention may further include:
In an implementation manner of the embodiment of the present invention, optionally, the determining whether the obstacle can be bypassed by the aircraft includes: acquiring an image with a preset distance away from the obstacle, and generating a dense map representing the surrounding environment of the obstacle; carrying out collision detection on the aircraft and the surrounding environment of the obstacle by using an octree map generated by the dense map; and judging whether the aircraft can bypass the obstacle successfully or not according to the calculated collision detection result.
In the embodiment, an image at a preset distance from an obstacle is acquired through an airborne shooting device of an aircraft, a three-dimensional point cloud map of a preset area around the obstacle is acquired by using a binocular camera or a device with a function of acquiring scene depth point cloud information, and the three-dimensional point cloud map is filtered to obtain a dense map representing the surrounding environment of the obstacle; then, converting the dense map into an octree map, setting an obstacle avoidance flight safety distance of the aircraft according to the size of the aircraft, constructing a surrounding sphere for the aircraft, then constructing a surrounding box (a minimum hexahedron which surrounds the aircraft and is parallel to a coordinate axis) about the aircraft by adopting a max-min algorithm in combination with the obstacle avoidance flight safety distance on the basis of the surrounding sphere, and carrying out collision detection on the octree map and the surrounding box; traversing from the root node of the octree map, judging whether the probability of the current node occupied by the bounding box exceeds a preset threshold value, if so, considering that the node and the bounding box can collide, and if not, considering that the node and the bounding box cannot collide.
After the collision detection is completed on the octree map and the bounding box, if the collision detection result shows that continuous nodes which do not collide with the bounding box exist around the obstacle, the detour success of the aircraft on the obstacle is represented, and step 240 is executed, otherwise, the detour failure of the aircraft on the obstacle is represented, and step 230 is executed. Therefore, whether the aircraft can complete the detour of the obstacle or not can be accurately judged by performing collision detection on the aircraft and the surrounding environment of the obstacle, and a precondition is created for planning a return path or replanning a route track of the aircraft.
And 230, planning a return route based on the three-dimensional navigation map, the current position information of the aircraft and the starting point position information of the aircraft.
In this embodiment, if it is determined that the aircraft has failed to detour the obstacle, a return path is planned by using a preset path planning algorithm based on a three-dimensional navigation map according to the current position information of the aircraft and the start position information of the aircraft, so that the problem that the aircraft cannot be safely returned due to manual remote control in the prior art can be solved, and the safety of the aircraft in the return process can be improved.
And 240, planning a detour route track based on the three-dimensional navigation map and the current position information of the aircraft.
In this embodiment, if it is determined that the aircraft detours the obstacle successfully, a detouring flight path trajectory is planned by using a preset path planning algorithm based on the three-dimensional navigation map, the current position information of the aircraft and the destination position information of the aircraft, so that after the aircraft detours the obstacle successfully, tasks that need to be completed by target objects of each key point on the flight path trajectory are continuously executed, and the influence of abnormal conditions on the execution of inspection tasks by the aircraft is reduced. In this embodiment, the preset path planning algorithm is a path search algorithm or a Vector Field Histogram (VFH) algorithm.
The technical scheme of the embodiment of the invention obtains a three-dimensional navigation map, a set air route track and a task attribute set of a target area; in the process of executing the task in the task attribute set based on the flight path track and the three-dimensional navigation map, if the aircraft is detected to encounter an obstacle, judging whether the aircraft can successfully bypass the obstacle; if so, planning a detour route track based on the three-dimensional navigation map and the current position information of the aircraft, and if not, planning a return route based on the three-dimensional navigation map, the current position information of the aircraft and the starting point position information of the aircraft. The technical scheme of the embodiment of the invention can reduce the influence of abnormal conditions on the inspection task executed by the aircraft, can solve the problem that the existing aircraft cannot safely return when encountering the abnormal conditions, and can improve the safety of the aircraft in the flight process.
Fig. 2b is a flowchart of a method for planning a return path according to a second embodiment of the present invention, which specifically includes the following steps:
In the step, according to the return direction indicated in the three-dimensional navigation map and the point cloud data, the areas which can be penetrated by the aircraft in the return process can be determined, and the areas are connected to generate an initial route track.
Fig. 2c is a schematic diagram of forming a return path according to a second embodiment of the present invention, and as shown in fig. 2c, a safety area 202 of the reference point 201 is constructed by taking the position of the reference point 201 as a center and a first preset radius.
And step 2004, when the initial route track passes through the safe area, adjusting the initial route track until the initial route track is out of the safe area, and taking the adjusted initial route track as a return route.
In this step, as shown in fig. 2c, when the initial course path 203 can pass through the safety area 202 of the reference point 201, it indicates that the aircraft may collide with the inspection object or the obstacle during the return journey. In this case, the initial course trajectory needs to be adjusted outside the safe area, as shown in FIG. 2d, the initial course trajectory 203 is adjusted outside the safe area 202 of the reference point 201. Therefore, the initial route track is adjusted to be outside the safety area, the inspection object and the aircraft can be prevented from being damaged, and the safety of the inspection object and the aircraft is further ensured.
In one implementation of an embodiment of the invention, adjusting the initial course trajectory until it is outside a safe area comprises: determining a safety spherical surface by taking a reference point as a center and a second preset radius, wherein the second preset radius is larger than the first preset radius; and determining two intersected points of the initial route track and the safety spherical surface, and taking an arc connecting the two points on the safety spherical surface as a part of the adjusted initial route track.
Specifically, as shown in fig. 2e, the reference point 201 is used as a center, the safety sphere 204 is determined by the second radius, two intersecting points on the initial route track 203 and the safety sphere 204 are an entry point 205 and an exit point 206 in fig. 2e, respectively, and an arc connecting the entry point 205 and the exit point 206 on the safety sphere 204 is used as a part of the adjusted initial route track. When the initial route track can pass through the safe area, a safe spherical surface is constructed, arcs of two intersected points on the initial route track and the safe spherical surface are used as a part of the adjusted initial route track, namely, the path passing through the safe area is replaced by the arcs of the two intersected points on the initial route track and the safe spherical surface, so that the distance of the adjusted initial route track can be shortest under the safe condition, the return time of the aircraft can be saved, and the return efficiency is improved.
Therefore, the return direction is determined according to the three-dimensional navigation map, the initial course track is determined based on the return direction and the point cloud data, the position of the reference point is used as the center, the first preset radius three-dimensional expansion reference point is used for forming a safety region of the reference point, when the initial course track passes through the safety region, the initial course track is adjusted until the initial course track is located outside the safety region, the adjusted initial course track is used as a return path, damage to the inspection object and the aircraft can be avoided, the safety of the inspection object and the aircraft is guaranteed, and the return efficiency of the aircraft is improved.
EXAMPLE III
In this embodiment, on the basis of the first embodiment, a specific implementation manner is provided for planning a return route based on the three-dimensional navigation map, the current location information of the aircraft, and the start location information of the aircraft if the insufficient electric quantity of the aircraft is detected, which is the same as or corresponding to the term explanation in the above embodiment, and is not repeated in this embodiment. Fig. 3 is a flowchart of an inspection method provided in a third embodiment of the present invention, in this embodiment, the technical solution of this embodiment may be combined with one or more methods in the solutions of the foregoing embodiments, and in this embodiment, as shown in fig. 3, the method provided in the third embodiment of the present invention may further include:
And 320, if the electric quantity of the aircraft is detected to be insufficient, planning a return route based on the three-dimensional navigation map, the current position information of the aircraft and the starting point position information of the aircraft.
In the embodiment, in the process that the aircraft executes the task with the concentrated task attribute based on the flight path track and the three-dimensional navigation map, the power supply electric quantity is detected in real time through the power supply detection device of the aircraft. When the power supply electric quantity is insufficient, a return route closest to the starting point of the aircraft is planned by adopting a preset route planning algorithm based on a three-dimensional navigation map according to the current position information of the aircraft and the starting point position information of the aircraft, compared with the prior art that the aircraft returns according to a flying track original route when encountering abnormal conditions, the return route in the embodiment is shorter, and can return to the starting point position as soon as possible, so that the problem of low return efficiency caused by the fact that the aircraft cannot safely return and the original route returns when encountering abnormal conditions in the prior art can be solved. In this embodiment, the preset path planning algorithm is a path search algorithm or a Vector Field Histogram (VFH) algorithm.
The technical scheme of the embodiment of the invention obtains a three-dimensional navigation map, a set air route track and a task attribute set of a target area; the task attribute set comprises tasks to be completed for target objects of each key point on the route track; and if the electric quantity of the aircraft is detected to be insufficient, planning a return route based on the three-dimensional navigation map, the current position information of the aircraft and the starting point position information of the aircraft. The technical scheme of the embodiment of the invention can solve the problems that the air vehicle cannot safely return after encountering abnormal conditions and the return efficiency is low due to the return of the original path in the prior art, and can improve the return efficiency of the air vehicle and the safety of the air vehicle in the flight process.
Example four
Fig. 4 is a flowchart of an inspection method according to a fourth embodiment of the present invention, in this embodiment, the technical solution of this embodiment may be combined with one or more methods in the solutions of the foregoing embodiments, and in this embodiment, optionally, the method according to the fourth embodiment of the present invention may further include: acquiring three-dimensional point cloud data of the target area, and generating a three-dimensional point cloud map of the target area according to the three-dimensional point cloud data; wherein the point cloud map adopts a global navigation coordinate system; and converting the point cloud map into an octree map and using the octree map as a three-dimensional navigation map. As shown in fig. 4, the method provided by the embodiment of the present invention includes the following steps:
In the embodiment of the invention, the point cloud data containing three-dimensional coordinates of the target area can be acquired by an aircraft, a handheld device carrying a camera or a laser radar, and then the point cloud data is converted into a global navigation coordinate system (such as a WGS84 coordinate system) to generate a three-dimensional point cloud map of the target area, so that a global map reflecting the three-dimensional characteristics of the target area is generated.
And step 420, converting the point cloud map into an octree map and using the octree map as a three-dimensional navigation map.
In this embodiment, the three-dimensional point cloud map is converted into an octree map (e.g., octomap) with a low resolution, and the purpose is to compress the point cloud map for importing into an aircraft, so that the point cloud map is converted into the octree map for importing map data, and the device memory can be saved.
And 430, marking at least one target object included in the target area in the three-dimensional navigation map, and generating a route track according to the coordinate information of the marked target object.
The three-dimensional navigation map can be a three-dimensional live-action map, target objects (such as insulators, pole and tower fittings and the like) in a target area to be inspected by the aircraft are marked in the three-dimensional navigation map, and all marked target objects are connected according to coordinate information of the target objects to generate a route track corresponding to the target area. Therefore, the target objects are marked in the three-dimensional navigation map to generate the route track, each target object can be accurately determined, and the accuracy of the inspection task executed by the aircraft is guaranteed.
And 450, planning a return route or re-planning the route track based on the three-dimensional navigation map and the current position information of the aircraft if the aircraft is detected to encounter an abnormal condition in the process of executing the task in the task attribute set based on the route track and the three-dimensional navigation map.
According to the technical scheme of the embodiment of the invention, by acquiring the three-dimensional navigation map of the target area, the set air route track and the task attribute set, if the aircraft is detected to encounter an abnormal condition in the process of executing the task in the task attribute set based on the air route track and the three-dimensional navigation map, the return route is planned or the air route track is re-planned based on the three-dimensional navigation map and the current position information of the aircraft. The technical scheme of the embodiment of the invention can ensure the accuracy of the inspection task executed by the aircraft, can reduce the influence of abnormal conditions on the inspection task executed by the aircraft, can solve the problem that the existing aircraft cannot safely return when encountering abnormal conditions, and can improve the return efficiency of the aircraft and the safety of the aircraft in the flight process.
In order to better introduce the technical solutions provided by the embodiments of the present invention, the embodiments of the present invention may refer to the following implementation manners:
step 1: before the aircraft performs the inspection task: the method comprises the steps of acquiring point cloud data containing three-dimensional coordinates of a target area through an aircraft, a handheld device carrying a camera or a laser radar, and converting the point cloud data into a global navigation coordinate system (such as a WGS84 coordinate system) to generate a point cloud map.
Step 2: and converting the obtained point cloud map into a low-resolution octree map (such as an octomap) for compressing the point cloud map so as to be conveniently downloaded or imported to an onboard device and complete path planning on the onboard device.
And step 3: before the aircraft executes the inspection task, a route track is obtained in advance through planning, and the route track planning method comprises the following steps: marking target objects in the routing inspection task in a three-dimensional map, generating a route track according to coordinate information of the target objects, and generating a task attribute set according to tasks to be completed for each target object, wherein the task attribute set comprises execution attribute information corresponding to each target object, position information of the target object and the type of the target object, and the execution attribute information comprises attitude information of an aircraft, such as a tripod head angle, course information and the like.
And 4, step 4: when the aircraft is ready to execute the inspection task, the octree map, the route track and the task attribute set obtained in the step are imported into the aircraft in a cloud sending or copying mode. The aircraft sequentially operates according to the established route track, and sequentially calls the task attribute set corresponding to each target object to control the equipment such as the pan-tilt and the like so as to complete the routing inspection task.
And 5, when the inspection task is executed, when an airborne sensor of the aircraft finds that the current aircraft cannot complete the operation task due to insufficient electric quantity or an obstacle, the aircraft calls the input octree map according to the current position to plan the path. The specific method for path planning comprises the following steps: when the aircraft encounters an obstacle, judging whether the aircraft can complete the detour of the obstacle, if so, planning a detour air route track so that the aircraft can continue to execute tasks, otherwise, planning a safe return route track and guiding the aircraft to return; when the electric quantity of the aircraft is insufficient, a return flight track nearest to the starting point of the aircraft is planned, and the aircraft is guided to return.
The method provided by the embodiment of the invention can ensure the accuracy of the inspection task executed by the aircraft, improve the return efficiency of the aircraft and the safety of the aircraft in the flight process, and reduce the influence of abnormal conditions on the inspection task executed by the aircraft.
EXAMPLE five
Fig. 5 is a structural diagram of an inspection device according to a fifth embodiment of the present invention, where the inspection device includes: an acquisition module 510 and a path planning module 520.
The obtaining module 510 is configured to obtain a three-dimensional navigation map of a target area, a set route track, and a task attribute set; the task attribute set comprises tasks to be completed for target objects of each key point on the route track; and a path planning module 520, configured to plan a return path or re-plan the route trajectory based on the three-dimensional navigation map and current position information of the aircraft if it is detected that the aircraft encounters an abnormal condition in the process of executing the task in the task attribute set based on the route trajectory and the three-dimensional navigation map.
According to the technical scheme of the embodiment of the invention, by acquiring the three-dimensional navigation map of the target area, the set air route track and the task attribute set, if the aircraft is detected to encounter an abnormal condition in the process of executing the task in the task attribute set based on the air route track and the three-dimensional navigation map, the return route is planned or the air route track is re-planned based on the three-dimensional navigation map and the current position information of the aircraft. The technical scheme of the embodiment of the invention can reduce the influence of abnormal conditions on the inspection task of the aircraft, solve the problem that the conventional aircraft cannot safely return when encountering the abnormal conditions, and improve the return efficiency of the aircraft and the safety of the aircraft in the flight process.
On the basis of the foregoing embodiments, the obtaining module 510 may include: the target object marking unit is used for marking at least one target object in the target area in a three-dimensional navigation map and generating the route track according to the coordinate information of the target object; the point cloud map generating unit is used for acquiring three-dimensional point cloud data of the target area and generating a three-dimensional point cloud map of the target area according to the three-dimensional point cloud data; the point cloud map adopts a global navigation coordinate system; and the point cloud map conversion unit is used for converting the point cloud map into an octree map and using the octree map as a three-dimensional navigation map.
The path planning module 520 may include: a remaining time-of-flight determining unit for determining a remaining time-of-flight of the aircraft; a return path determination unit for determining a return path based on the three-dimensional navigation map and the current position information of the aircraft; the return time determining unit is used for determining the return time of the aircraft based on the return path and the speed of the aircraft; a return time judging unit for judging whether the remaining flight time is greater than the return time; a final return path determining unit, configured to return to an operation of determining a return path based on a three-dimensional navigation map and current position information of an aircraft when remaining flight time is not greater than return time until the remaining flight time is greater than the return time, and take the return path corresponding to the remaining flight time greater than the return time as a final return path; a target route track determining unit, configured to re-determine a target route track from a current position to the route destination based on the three-dimensional navigation map and current position information of the aircraft; the target inspection time determining unit is used for determining the target inspection time of the aircraft based on the target route track and the speed of the aircraft; the target inspection time judging unit is used for judging whether the remaining flight time is greater than the target inspection time or not; a final target route track determining unit, configured to return to an operation of re-determining a target route track from a current position to the route destination based on the three-dimensional navigation map and current position information of the aircraft when remaining flight time is not greater than target inspection time until the remaining flight time is greater than the target inspection time, and take the target route track corresponding to the remaining flight time being greater than the target inspection time as a final target route track; the return direction determining unit is used for determining the return direction according to the three-dimensional navigation map; the initial route track determining unit is used for determining an initial route track based on the return direction and the point cloud data; the safety zone generation unit is used for determining the position of a reference point and expanding the reference point in a three-dimensional mode by a first preset radius to form a safety zone of the reference point; the reference points comprise key points and position points where the obstacles are located; the initial route track adjusting unit is used for adjusting the initial route track until the initial route track is positioned outside the safe area when the initial route track passes through the safe area, and taking the adjusted initial route track as a return route; the safety spherical surface determining unit is used for determining a safety spherical surface by taking the reference point as a center and a second preset radius, wherein the second preset radius is larger than the first preset radius; the connecting unit is used for determining two intersected points of the initial route track and the safety spherical surface and taking an arc connecting the two points on the safety spherical surface as a part of the adjusted initial route track; the judging unit is used for judging whether the aircraft can successfully bypass the obstacle when the aircraft is detected to encounter the obstacle; the return path planning unit is used for planning a return path based on the three-dimensional navigation map, the current position information of the aircraft and the starting point position information of the aircraft when judging that the aircraft does not successfully detour the obstacle; the three-dimensional navigation map is used for planning a return route based on the three-dimensional navigation map, the current position information of the aircraft and the starting point position information of the aircraft when the electric quantity of the aircraft is insufficient; and the detour planning unit is used for planning a detour route track based on the three-dimensional navigation map and the current position information of the aircraft when judging that the aircraft detours the obstacle successfully.
The inspection device provided by the embodiment of the invention can execute the inspection method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
EXAMPLE six
Fig. 6 is a schematic structural diagram of an aircraft according to a sixth embodiment of the present invention, and as shown in fig. 6, the aircraft includes a processor 610, a memory 620, an input device 630, and an output device 640; the number of processors 610 in the aircraft may be one or more, with one processor 610 being exemplified in fig. 6; the processor 610, memory 620, input device 630, and output device 640 in the aircraft may be connected by a bus or other means, as exemplified by a bus connection in fig. 6.
The memory 620, as a computer-readable storage medium, may be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to a polling method in an embodiment of the present invention (for example, the obtaining module 510 and the path planning module 520 in a polling device). The processor 610 implements one of the inspection methods described above by executing software programs, instructions, and modules stored in the memory 620 to perform various functional applications and data processing of the aircraft. That is, the program when executed by the processor implements: acquiring a three-dimensional navigation map, a set route track and a task attribute set of a target area; the task attribute set comprises tasks to be completed for target objects of each key point on the route track; and in the process of executing the task in the task attribute set based on the air route track and the three-dimensional navigation map, if the aircraft is detected to encounter an abnormal condition, planning a return route or re-planning the air route track based on the three-dimensional navigation map and the current position information of the aircraft.
The memory 620 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 620 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 620 may further include memory located remotely from the processor 610, which may be connected to the aircraft via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 630 may be used to receive entered numerical or character information and generate key signal inputs relating to user settings and function control of the aircraft, and may include a keyboard and mouse, among others. The output device 640 may include a display device such as a display screen.
EXAMPLE seven
The seventh embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method according to any embodiment of the present invention. Of course, the computer-readable storage medium provided in the embodiments of the present invention may perform related operations in an inspection method provided in any embodiment of the present invention. That is, the program when executed by the processor implements: acquiring a three-dimensional navigation map, a set route track and a task attribute set of a target area; the task attribute set comprises tasks to be completed for target objects of each key point on the route track; and in the process of executing the task in the task attribute set based on the air route track and the three-dimensional navigation map, if the aircraft is detected to encounter an abnormal condition, planning a return route or re-planning the air route track based on the three-dimensional navigation map and the current position information of the aircraft.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the inspection device, the units and modules included in the inspection device are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (14)
1. A routing inspection method is characterized by comprising the following steps:
acquiring a three-dimensional navigation map, a set route track and a task attribute set of a target area; the task attribute set comprises tasks to be completed for target objects of each key point on the route track;
and in the process of executing the task in the task attribute set based on the air route track and the three-dimensional navigation map, if the aircraft is detected to encounter an abnormal condition, planning a return route or re-planning the air route track based on the three-dimensional navigation map and the current position information of the aircraft.
2. The method of claim 1, wherein planning a return path based on the three-dimensional navigation map and current location information of the aircraft comprises:
determining a remaining time of flight of the aircraft;
determining a return path based on the three-dimensional navigation map and current location information of the aircraft;
determining a return time of the aircraft based on the return path and the speed of the aircraft;
judging whether the residual flight time is greater than the return flight time;
if not, returning to the operation of determining the return route based on the three-dimensional navigation map and the current position information of the aircraft until the residual flight time is greater than the return time, and taking the return route corresponding to the residual flight time greater than the return time as the final return route.
3. The method of claim 1, wherein re-planning the course trajectory based on the three-dimensional navigation map and current position information of the aircraft comprises:
determining a remaining time of flight of the aircraft;
re-determining a target course trajectory from a current position to the course destination based on the three-dimensional navigation map and current position information of the aircraft;
determining a target inspection time of the aircraft based on the target course trajectory and the speed of the aircraft;
judging whether the residual flight time is greater than the target inspection time or not;
if not, returning to the operation of re-determining the target route track from the current position to the route end point based on the three-dimensional navigation map and the current position information of the aircraft until the remaining flight time is greater than the target inspection time, and taking the corresponding target route track when the remaining flight time is greater than the target inspection time as the final target route track.
4. The method of claim 1, further comprising:
acquiring three-dimensional point cloud data of the target area, and generating a three-dimensional point cloud map of the target area according to the three-dimensional point cloud data; wherein the point cloud map adopts a global navigation coordinate system;
and converting the point cloud map into an octree map and using the octree map as a three-dimensional navigation map.
5. The method of claim 1, further comprising:
marking at least one target object included in the target area in the three-dimensional navigation map, and generating the route track according to the coordinate information of the marked target object.
6. The method of claim 1, wherein the set of task attributes includes performance attribute information corresponding to performing a task to be completed on each target object and position information of the target object, the attribute information including attitude information of the aircraft.
7. The method of claim 1, wherein planning a return path or replanning the route trajectory based on the three-dimensional navigation map and current location information of the aircraft if an aircraft encountering an abnormal condition is detected comprises:
if the fact that the aircraft encounters the obstacle is detected, whether the aircraft can successfully bypass the obstacle is judged;
if not, planning a return route based on the three-dimensional navigation map, the current position information of the aircraft and the starting point position information of the aircraft;
and if so, planning a detour route track based on the three-dimensional navigation map and the current position information of the aircraft.
8. The method of claim 1, wherein planning a return path based on the three-dimensional navigation map and current location information of the aircraft comprises:
determining a return direction according to the three-dimensional navigation map;
determining an initial course track based on the return direction and the point cloud data;
determining the position of a reference point, and expanding the reference point in a three-dimensional manner by a first preset radius to form a safety zone of the reference point; the reference points comprise key points and position points where the obstacles are located;
and when the initial route track passes through the safe area, adjusting the initial route track until the initial route track is out of the safe area, and taking the adjusted initial route track as a return route.
9. The method of claim 8, wherein said adjusting the initial course trajectory until it is outside a safe area comprises:
determining a safety spherical surface by taking the reference point as a center and a second preset radius, wherein the second preset radius is larger than the first preset radius;
and determining two intersected points of the initial route track and the safety spherical surface, and taking an arc connecting the two points on the safety spherical surface as a part of the adjusted initial route track.
10. The method of claim 1, wherein planning a return path or replanning the route trajectory based on the three-dimensional navigation map and current location information of the aircraft if an aircraft encountering an abnormal condition is detected comprises:
and if the electric quantity of the aircraft is detected to be insufficient, planning a return route based on the three-dimensional navigation map, the current position information of the aircraft and the starting point position information of the aircraft.
11. The method of claim 1, wherein planning a return path or re-planning the route trajectory based on the three-dimensional navigation map and current location information of the aircraft comprises:
planning a return route or replanning the route track by adopting a preset route planning algorithm based on the three-dimensional navigation map and the current position information of the aircraft;
the preset path planning algorithm comprises a path search algorithm or a vector field histogram algorithm.
12. An inspection device, comprising:
the acquisition module is used for acquiring a three-dimensional navigation map of a target area, a set air route track and a task attribute set; the task attribute set comprises tasks to be completed for target objects of each key point on the route track;
and the path planning module is used for planning a return path or replanning the route track based on the three-dimensional navigation map and the current position information of the aircraft if the aircraft is detected to encounter an abnormal condition in the process of executing the task in the task attribute set based on the route track and the three-dimensional navigation map.
13. An aircraft, characterized in that it comprises:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a patrol method according to any one of claims 1-11.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out an inspection method according to any one of claims 1 to 11.
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