CN114442603A - Routing inspection path planning method, device and system and computer readable storage device - Google Patents
Routing inspection path planning method, device and system and computer readable storage device Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
The application discloses a routing inspection path planning method. The method comprises the following steps: acquiring a layout of the inspection objects; determining a first reference point containing geographical position information, and determining a second reference point corresponding to the first reference point on the layout of the inspection object; determining a plurality of reference points on the layout of the routing inspection object; determining the geographical position information of the multiple reference points according to the position relationship between the multiple reference points and the second reference point and the corresponding relationship between the first reference point and the second reference point; planning according to the geographic position information of the reference points to obtain the routing inspection path. The application also discloses a routing inspection planning device, an inspection system and a computer readable storage device. Through the mode, the routing planning of the routing inspection area can be rapidly and accurately achieved.
Description
Technical Field
The present application relates to the field of inspection technologies, and in particular, to a method, an apparatus, a system, and a computer-readable storage device for routing inspection.
Background
With the development of the unmanned aerial vehicle technology, the application of the unmanned aerial vehicle technology has been related to various fields such as agriculture, transportation, rescue, inspection and the like. Especially in the field of patrolling and examining, unmanned aerial vehicle patrols and examines and has a great deal of advantages such as more accurate, efficiency height than artifical patrolling and examining, has brought apparent promotion for the efficiency of patrolling and examining.
At present, before the routing inspection of the unmanned aerial vehicle is carried out, the routing inspection nodes of the routing inspection area of the unmanned aerial vehicle are required to be confirmed by GPS signals, and then the routing inspection path of the unmanned aerial vehicle is planned based on the actual condition of the routing inspection area and the cruising ability of the unmanned aerial vehicle, which are formed by the routing inspection nodes. The prior determination of the routing inspection node needs a routing inspection person to acquire a GPS signal on the spot, but in the application field of the power station, along with the continuous expansion of the scale of the power station, the routing inspection nodes are more and more, and the distance between the routing inspection nodes is larger and larger, so that the information acquisition of the routing inspection nodes by the routing inspection person is time-consuming and labor-consuming, and in some cases, the actual geographic position information of the routing inspection nodes may cause hidden troubles to the personal safety of the routing inspection person.
Disclosure of Invention
The routing inspection method mainly aims to provide a routing inspection path planning method, a routing inspection path planning device, a routing inspection system and a computer readable storage device, and can solve the technical problem that information confirmation of routing inspection nodes is troublesome and laborious.
In order to solve the above technical problem, the first technical solution adopted by the present application is: a routing inspection path planning method is provided. The method comprises the following steps: acquiring a layout of the inspection objects; determining a first reference point containing geographical position information, and determining a second reference point corresponding to the first reference point on the layout of the inspection object; determining a plurality of reference points on the layout of the routing inspection object; determining the geographical position information of the multiple reference points according to the position relationship between the multiple reference points and the second reference point and the corresponding relationship between the first reference point and the second reference point; planning according to the geographic position information of the reference points to obtain the routing inspection path.
In order to solve the above technical problem, the second technical solution adopted by the present application is: provided is a routing inspection planning device. The device comprises a memory and a processor, wherein the memory stores program data, and the processor is used for executing the program data to realize the routing method of the routing inspection path in the first technical scheme to obtain the routing inspection path.
In order to solve the above technical problem, the third technical solution adopted by the present application is: an inspection system is provided. The system comprises an inspection path planning device and inspection equipment, wherein the inspection path planning device comprises an inspection path planning device in the second technical scheme, and the inspection equipment is used for executing an inspection path obtained by the inspection path planning device through an inspection path planning method in the first technical scheme.
In order to solve the above technical problem, a fourth technical solution adopted by the present application is: a computer-readable storage device is provided. The device stores program data, and can be executed by a processor to implement the routing inspection path planning method according to the first technical solution.
The beneficial effect of this application is: different from the situation of the prior art, the method and the device have the advantages that the position relation among the inspection nodes in the inspection areas can be obtained by obtaining the layout of the inspection objects, the position relation between the reference point with the determined geographical position information and the inspection node is determined in a coordinate system, so that the geographical position information of all the inspection nodes can be obtained through the geographical position information of the reference point, the position information of all the inspection areas can be obtained to carry out reasonable inspection path planning, and the on-site information acquisition of all the inspection nodes is not needed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of the arrangement of components of a photovoltaic power plant;
fig. 2 is a schematic flow chart of a first embodiment of the routing inspection path planning method according to the present application;
fig. 3 is a schematic flow chart of a routing inspection path planning method according to a second embodiment of the present application;
fig. 4 is a schematic flow chart of a routing inspection path planning method according to a third embodiment of the present application;
fig. 5 is a schematic flow chart of a fourth embodiment of the routing inspection path planning method according to the present application;
fig. 6 is a schematic flow chart of a fifth embodiment of the routing inspection path planning method according to the present application;
FIG. 7 is a block diagram of a photovoltaic power plant having a reference point defined therein;
fig. 8 is a schematic structural diagram of a first embodiment of the routing inspection path planning device according to the present application;
FIG. 9 is a schematic structural diagram of a first embodiment of the inspection system of the present application;
fig. 10 is a schematic structural diagram of a first embodiment of a computer-readable storage device according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In the application of patrolling and examining at the unmanned aerial vehicle of power station, to the photovoltaic power station as an example, as shown in fig. 1, fig. 1 is the subassembly schematic diagram of arranging of a certain photovoltaic power station, and this photovoltaic power station is patrolled and examined to the hypothesis unmanned aerial vehicle needs, and unmanned aerial vehicle's route planning of patrolling and examining includes following step:
firstly, the photovoltaic power station is inspected in the field, the coverage area of the photovoltaic power station is determined and divided into A, B, C, D four areas.
And secondly, collecting geographic position information of routing inspection nodes of four routing inspection areas of the ABCD, wherein the routing inspection points correspondingly enclose routing inspection areas such as A12345, B1234, C12345 and D1234 if 1234.
And thirdly, calculating the geographical position information of each inspection node of the four acquired inspection areas through an algorithm, and calculating an inspection path under each inspection area by combining the cruising ability of the unmanned aerial vehicle. The path with the arrow in the figure is the calculated routing inspection path of the unmanned aerial vehicle.
And fourthly, the unmanned aerial vehicle performs inspection according to the generated inspection path.
As the scale of the power station is larger and larger, the actual geographic position of the routing inspection node is also diversified. Because the positions of some routing inspection nodes can not be reached easily by routing inspection personnel, and the working difficulty of the routing inspection personnel is correspondingly improved, certain safety risks are brought, for example, some routing inspection nodes can be positioned on the water surface, the routing inspection personnel need to take a ship to go to, some routing inspection nodes are positioned on the mountain tops, the mountain-going roads are rugged, the vegetation coverage is wide, and the actions are inconvenient, the routing inspection path planning method is provided, the problem that the time and the labor are wasted when the position information of the routing inspection nodes is collected is solved, and the routing inspection method can be realized through the methods described in the following embodiments.
As shown in fig. 2, fig. 2 is a schematic flowchart of a first embodiment of the routing inspection path planning method according to the present application. This embodiment comprises the steps of:
s11: and acquiring a layout of the inspection objects.
Wherein, the embodiment of this application can be applied to and adopt equipment of patrolling and examining to patrol and examine an area. The area may be a photovoltaic power plant, a wind power plant or other relevant area with inspection requirements, etc.
Taking a photovoltaic power station as an example, the photovoltaic power station allocates corresponding areas according to actual geographic location conditions, and then allocates photovoltaic modules in the corresponding areas. According to the method, the arrangement layout of the photovoltaic modules of the photovoltaic power station is obtained through the provided relevant position information of the areas in the field terrain and through software design, the arrangement layout is consistent with the actual terrain position, and only scaling in a certain proportion exists. The design software can be CAD software or any other software capable of displaying the relative position relationship of the photovoltaic power station. The layout of the inspection object can be a CAD layout as well as other feasible software layouts. The layout of the inspection object can also be directly obtained from related drawings, such as the initial building design drawing of the photovoltaic power station, and the related position information of the area can also be obtained from the layout.
The layout is designed according to known area related information or design drawings, so that on-site detection of inspectors can be avoided, and the personal safety of the inspectors is guaranteed on the premise of finishing path planning.
S12: a first reference point containing geographical position information is determined, and a second reference point corresponding to the first reference point is determined on the layout of the inspection object.
By surveying in the field, geolocation information for the first reference point is collected. The first reference point can be a place where geographical position information is relatively easy to obtain and is relatively close to a coverage area of the photovoltaic power station. And after the first reference points are collected, scaling the corresponding position relation of the first reference points into the layout according to the same proportion as the layout to obtain second reference points. For example, a first reference point is located 500 meters east-north of a lake, and by the same scaling, e.g., 1:50000, the first reference point is determined to correspond to a second reference point 1 cm from the north-east of the lake in the layout plan.
S13: a plurality of reference points are determined on the routing diagram of the routing object.
And acquiring a plurality of routing inspection areas of the photovoltaic power station and a plurality of routing inspection nodes of each routing inspection area according to the acquired layout. The position relation among the routing inspection nodes can be further obtained. The corresponding determination steps of the routing inspection area and the routing inspection node can be realized by the following embodiments.
S14: and determining the geographical position information of the reference points according to the position relationship between the reference points and the second reference point and the corresponding relationship between the first reference point and the second reference point.
After the second reference point is obtained, each reference point, namely the position relation between the routing inspection node and the second reference point in the routing diagram, can be obtained through the routing diagram. And then combining the geographical position information of the first reference point corresponding to the second reference point and the scaling of the layout plan to obtain the actual geographical position information of each reference point.
S15: planning according to the geographic position information of the reference points to obtain the routing inspection path.
After the geographical position information of each reference point is obtained, the proper routing inspection path can be calculated by combining the routing inspection capability of the routing inspection equipment and the range condition of the routing inspection area surrounded by the reference points. The process of obtaining the geographical location information and then calculating the routing inspection path is a relatively conventional technical means, and is not described in detail herein.
As shown in fig. 3, fig. 3 is a schematic flow chart of a routing inspection path planning method according to a second embodiment of the present application. This embodiment is a further extension of step S13. Which comprises the following steps:
s21: and determining at least one routing inspection area on the routing diagram of the routing inspection object.
Taking a photovoltaic power station as an example, after an arrangement diagram corresponding to the actual position of a photovoltaic module of the photovoltaic power station is obtained, an inspection area to be inspected by using inspection equipment is determined. The determination of the area is related to the self-capability of the inspection equipment used, and the specific related steps can be realized by the following embodiments.
S22: and determining a plurality of reference points corresponding to each routing inspection area.
After the routing inspection related area is determined, the boundary point of the routing inspection area can be used as a reference point for subsequent determination of position information, namely the reference point is used as a plurality of vertexes of the polygon of the routing inspection area. Some points on the boundary or points in the middle of the area can be correspondingly increased according to actual conditions.
As shown in fig. 4, fig. 4 is a schematic flowchart of a routing inspection path planning method according to a third embodiment of the present application. This embodiment is a further extension of step S21. Which comprises the following steps:
s31: a target area is determined on the layout of the inspection object.
In this embodiment, taking a photovoltaic power station as an example, after an arrangement layout corresponding to actual positions of photovoltaic modules of the photovoltaic power station is obtained, an inspection area to be inspected by using inspection equipment is determined as a target area. The number of the regions may be one or plural.
S32: the area of the target region is determined.
The actual area of the target region can be determined by combining the length and the width of each region in the layout and the scaling of the layout.
S33: and taking the target area as a routing inspection area in response to the fact that the area of the target area is smaller than a set area threshold value.
Because the equipment of patrolling and examining has different time of patrolling and examining based on self performance to and the corresponding scope of patrolling and examining. Taking a charging type unmanned aerial vehicle as an example, the unmanned aerial vehicle corresponds to different endurance according to the self electricity storage capacity (battery size), and the corresponding flight distance can be determined according to the endurance, so that the size of the routing inspection area range is determined. A set area threshold value is determined based on the performance of the inspection equipment, so that the inspection equipment is guaranteed not to have problems caused by long-time non-charging in the process of working, and the working efficiency is not affected. When the inspection device works in the inspection area with the area smaller than the set area threshold, the inspection device can be ensured to have sufficient electric quantity when in work, and the inspection task of delivery can be accurately completed. Therefore, when the area of the target area is detected to be smaller than the set area threshold, the target area can be used as the actual inspection area. If it is detected that the area of the target region is not smaller than the set area threshold, step S34 is executed.
S34: and in response to the fact that the area of the target area is not smaller than the set area threshold value, dividing the target area to obtain a new target area.
When the area of the detected target area is not smaller than the set area threshold, it indicates that the inspection equipment may have a problem caused by insufficient electric quantity in the process of completing the whole inspection task in the area. Therefore, the target area needs to be subdivided into a plurality of target areas, so that the area of each target area meets the requirement of being smaller than a set area threshold, and the problem of electric quantity of the routing inspection equipment during routing inspection is avoided. After dividing the new target region, the correlation step of determining the area of the target region may be performed again.
As shown in fig. 5, fig. 5 is a schematic flowchart of a fourth embodiment of the routing inspection path planning method according to the present application. This embodiment is a further extension of step S21. Which comprises the following steps:
s41: a target area is determined on the layout of the inspection object.
In this embodiment, taking a photovoltaic power station as an example, after an arrangement layout corresponding to actual positions of photovoltaic modules of the photovoltaic power station is obtained, an inspection area to be inspected by using inspection equipment is determined as a target area. The number of the regions may be one or plural.
S42: and planning a routing inspection path in the target area to obtain a test path.
In the target area, the routing of the routing inspection equipment for routing inspection can be correspondingly set according to the size of the target area, the actual arrangement condition of the photovoltaic modules and the like.
S43: and taking the target area as a routing inspection area in response to the fact that the length of the test path is smaller than a set length threshold.
Also, the inspection equipment has different inspection time and corresponding inspection range based on the performance of the inspection equipment. Using chargeable type unmanned aerial vehicle as an example, unmanned aerial vehicle corresponds different duration according to self electric power storage capacity (battery size), can confirm the flight distance that corresponds according to the duration to confirm the path length size of patrolling and examining equipment and patrolling and examining in patrolling and examining the region. A set length threshold value is determined based on the performance of the inspection equipment, so that the inspection equipment is guaranteed not to have problems caused by long-time non-charging in the process of working, and the working efficiency is not affected. When the inspection device works in the inspection area with the length smaller than the set length threshold, the inspection device can be ensured to have sufficient electric quantity when in work, and the inspection task of delivery can be accurately completed. Therefore, when the length of the planned path of the target area is detected to be smaller than the set length threshold, the planned path of the target area can be used as the actual planned path of the inspection area. If it is detected that the length of the planned path of the target area is not less than the set length threshold, step S44 is executed.
S44: and in response to the length of the test path being greater than the set length threshold, dividing the target area to obtain a new target area.
When the detected length of the planned path of the target area is not less than the set length threshold, the situation shows that the inspection equipment may have a problem caused by insufficient electric quantity in the process of completing the whole inspection task in the area. Therefore, the target area needs to be subdivided into a plurality of target areas, so that the length of the planned path of each target area meets the requirement that the length is smaller than the set length threshold, and the problem of electric quantity of the routing inspection equipment during routing inspection is avoided. After dividing the new area, the step of planning the path to obtain the test path may be performed again.
In another embodiment, the path planning of the target area may be performed again, and the length of the planned path is shortened to meet the set length threshold. However, due to the shortened length of the planned path, the routing inspection task of a part of photovoltaic modules may be affected, or the part of photovoltaic modules may be reduced to meet the requirement of the planned path.
As shown in fig. 6, fig. 6 is a schematic flowchart of a fifth embodiment of the routing inspection path planning method according to the present application. This embodiment is a further extension of step S14, which includes the steps of:
s51: horizontal and vertical distances of the plurality of reference points from the second reference point are determined.
In one embodiment, the relative positional relationship of the second reference point and the plurality of reference points is known in the acquired layout pattern. Horizontal and vertical distances between the plurality of reference points and the second reference point may be determined.
S52: and determining the geographical position information of the plurality of reference points according to the horizontal distance and the vertical distance between the plurality of reference points and the second reference point, the conversion relation between the distance information and the geographical position information of the routing inspection object layout and the geographical position information of the first reference point.
By combining the geographical position information of the first reference point corresponding to the second reference point and the scaling of the layout plan through the position relation between the reference point and the second reference point, the geographical position information of the reference point can be obtained through corresponding calculation.
In one embodiment, it can be calculated by the following formula.
Taking fig. 7 as an example, the graph is a division diagram of the area of the photovoltaic module, in which a second reference point, point P, is determined on the basis of the area of fig. 1. After the area division of the above embodiment, four routing inspection areas, a12345, B1234, C12345, and D1234, can be obtained. In the global coordinate system, the GPS coordinates of the location point have a certain conversion relationship with the length unit, for example, one meter of the unit length corresponds to a certain number of GPS degrees, which can be recorded as m/°, and the conversion coefficient is recorded as U in this embodiment.
And establishing a coordinate system by taking the point P as a reference point, so that the position information of each reference point relative to the point P can be obtained, and the horizontal distance and the vertical distance of each reference point relative to the point P can be reached. For example, the coordinates of each reference point of the A area may be denoted as A1(x，y)、A2(x，y)、A3(x，y)、A4(x，y)、A5(x, y). And the actual geographic position information and GPS coordinates can be marked as A1(gx，gy)、A2(gx，gy)、A3(gx，gy)、A4(gx，gy)、A5(gx, gy). The conversion relationship between the two can be as follows:
wherein (A)gx1，Agy1) Is the geographical position information of the target reference point, (P)gx，Pgy) Geographical location information as a first reference point, Ax1Arranging the horizontal distance from the reference point to the first reference point in the layout chart for the inspection object, Ay1Arranging the vertical distance, U, from the reference point to the first reference point in the layout for the inspection objectxConversion factor, U, representing horizontal distance and geographical position information of a layout of objects to be inspectedyAnd a conversion coefficient representing the vertical distance and the geographic position information of the routing diagram of the routing inspection object.
After the calculation is completed, the geographic position information of the patrol area A can be obtained, and the geographic position information can be marked as A { (A)gx1，Agy1)、(Agx2，Agy2)、(Agx3，Agy3)、(Agx4，Agy4)、(Agx5，Agy5) In the same way, corresponding geographic location information of other sets can be obtained and can be recorded as B { (B)gx1，Bgy1)、(Bgx2，Bgy2)、(Bgx3，Bgy3)、(Bgx4，Bgy4) And so on. After the geographical position information of the inspection area is obtained, the design planning of the inspection path can be carried out by combining the performance of the inspection equipment.
As shown in fig. 8, fig. 8 is a schematic structural diagram of a first embodiment of the inspection path planning device according to the present application.
This patrol and examine path planning device includes: a processor 110 and a memory 120. The path planning device may be a computer, a mobile terminal such as a mobile phone and a tablet lamp, or a wearable device, and is not limited herein.
The processor 110 controls the operation of the patrol route planning apparatus, and the processor 110 may also be referred to as a Central Processing Unit (CPU). The processor 110 may be an integrated circuit chip having the processing capability of signal sequences. The processor 110 may also be a general purpose processor, a digital signal sequence processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The processor 110 is configured to execute instructions to implement the methods provided by any one of the embodiments and possible combinations of the routing method of the inspection path described above in the present application.
In an embodiment, the path planning apparatus may further include a display screen for displaying images such as an infrared image, a coordinate image, a photovoltaic power plant layout diagram, and further may further include an alarm component, such as a flash lamp, a buzzer, a speaker, and the like, for reminding when a fault is detected.
In another embodiment, the routing inspection path planning device may further include a communication module, such as 4G, 5G, WIFI, for establishing a wireless communication connection with the inspection equipment, so as to perform remote control and data interaction on the inspection equipment.
As shown in fig. 9, fig. 9 is a schematic structural diagram of the inspection system according to the first embodiment of the present application.
The inspection system includes an inspection path planning device 210 and an inspection apparatus 220.
The path planning device 210 includes a processor and a memory, and can implement the method provided by any embodiment and possible combination of the routing inspection path planning method. The path planning device may be a computer, a mobile terminal such as a mobile phone and a tablet lamp, or a wearable device, and is not limited herein.
The inspection equipment 220 is a machine equipment having an inspection function. For example chargeable type unmanned aerial vehicle, it including communication module, can carry out data interaction with patrolling and examining path planning device 210 to the realization is patrolled and examined the work to patrolling and examining the region. The inspection equipment 220 and the path planning device 210 can be in wireless communication connection. In some cases, such as when the polling range is not large, the polling range may be wired.
As shown in fig. 10, fig. 10 is a schematic structural diagram of a first embodiment of a computer-readable storage device according to the present application.
An embodiment of the readable storage device of the present application comprises a memory 310, wherein the memory 310 stores program data, and the program data, when executed, implement the method provided by any embodiment and possible combination of the control method of the control device of the present application.
The Memory 310 may include a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a hard disk, an optical disk, and the like.
To sum up, the present application can obtain the position relationship between each inspection node in a plurality of inspection areas by obtaining the layout of the inspection object, and then determine the position relationship between a reference point of a determined geographical position information and an inspection node in a coordinate system, thereby obtaining the geographical position information of all inspection nodes through the geographical position information of the reference point, and further obtaining the position information of all inspection areas to carry out reasonable routing planning of inspection, without carrying out on-the-spot information acquisition on all inspection nodes.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units in the other embodiments described above may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (10)
1. A routing inspection path planning method is characterized by comprising the following steps:
acquiring a layout of the inspection objects;
determining a first reference point containing geographical position information, and determining a second reference point corresponding to the first reference point on the routing chart of the routing inspection object;
determining a plurality of reference points on the routing diagram of the routing inspection object;
determining the geographical position information of the plurality of reference points according to the position relationship between the plurality of reference points and the second reference point and the corresponding relationship between the first reference point and the second reference point;
and planning according to the geographical position information of the reference points to obtain the routing inspection path.
2. The method of claim 1,
the determining a plurality of reference points on the routing diagram of the routing inspection object comprises the following steps:
determining at least one routing inspection area on the routing diagram of the routing inspection objects;
and determining a plurality of reference points corresponding to each routing inspection area.
3. The method of claim 2,
the method for determining at least one routing inspection area on the routing layout of the routing inspection objects comprises the following steps:
determining a target area on the routing diagram of the routing inspection object;
determining the area of the target region;
in response to the fact that the area of the target area is smaller than a set area threshold value, taking the target area as the inspection area; or
And in response to the fact that the area of the target region is not smaller than the set area threshold, dividing the target region to obtain a new target region, and executing the step of determining the area of the target region again.
4. The method of claim 2,
the method for determining at least one routing inspection area on the routing layout of the routing inspection objects comprises the following steps:
determining a target area on the routing diagram of the routing inspection object;
routing inspection path planning is carried out in the target area to obtain a test path;
in response to the fact that the length of the test path is smaller than a set length threshold value, taking the target area as the inspection area; or
And responding to the condition that the length of the test path is not less than the set length threshold, dividing the target area to obtain a new target area, and executing the routing inspection path planning again in the target area to obtain the test path.
5. The method of claim 2,
the inspection area is a polygon, and the reference points are a plurality of vertexes corresponding to the polygon.
6. The method of claim 1,
determining the geographical location information of the plurality of reference points according to the location relationship between the plurality of reference points and the second reference point and the corresponding relationship between the first reference point and the second reference point, including:
determining horizontal and vertical distances of the plurality of reference points from the second reference point;
and determining the geographical position information of the plurality of reference points according to the horizontal distance and the vertical distance between the plurality of reference points and the second reference point, the conversion relation between the distance information and the geographical position information of the routing inspection object layout, and the geographical position information of the first reference point.
7. The method of claim 6,
the determining the geographical position information of the plurality of reference points according to the horizontal distance and the vertical distance between the plurality of reference points and the second reference point, the conversion relationship between the distance information and the geographical position information of the layout of the inspection object, and the geographical position information of the first reference point includes:
calculating the geographical location information of the plurality of reference points using the following formula:
wherein (A)gxl，Agyl) Is the geographical position information of the target reference point, (P)gx，Pgy) Is the geographical location information of the first reference point, AxlIs the horizontal distance, AylIs said vertical distance, UxA conversion coefficient, U, representing horizontal distance and geographical position information of the layout of the inspection objectsyAnd the conversion coefficient represents the vertical distance and the geographic position information of the routing diagram of the routing inspection object.
8. An inspection path planning device, comprising a memory and a processor, wherein the memory stores program data, and the processor is used for executing the program data to realize the inspection path planning method according to any one of claims 1 to 7.
9. The utility model provides an inspection system which characterized in that, inspection system includes:
an inspection path planning device comprising the inspection path planning device of claim 8;
the inspection equipment is used for executing the inspection path obtained by the inspection path planning device according to the inspection path planning method of any one of claims 1 to 7.
10. A computer-readable storage means, in which program data are stored, which can be executed by a processor to implement the method according to any one of claims 1-7.
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