CN115167511A

CN115167511A - Aircraft path planning method, system, device and storage medium

Info

Publication number: CN115167511A
Application number: CN202210870289.7A
Authority: CN
Inventors: 周华; 王海洋
Original assignee: Shanghai Clobotics Technology Co ltd
Current assignee: Shanghai Clobotics Technology Co ltd
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2022-10-11
Also published as: WO2024016459A1

Abstract

The present disclosure provides an aircraft path planning method, system, device and storage medium. According to the technical scheme, a plurality of flying target points which take the aircraft as the center and are within a preset range can be generated based on the initial position of the aircraft and each preferable target point, the preferable target points which are closest to an ideal flying path and can enable the aircraft to fly in the inspection direction are screened out from the flying target points, and then the aircraft is controlled to fly along the preferable target points so as to achieve path planning. In the path planning process, the continuous iteration of the flyable target point and the optimized target point ensures that the actual flight path of the aircraft can be kept as consistent as possible with the ideal flight path or surround the periphery of the ideal flight path, greatly improves the routing inspection controllability and safety of the aircraft, improves the routing inspection efficiency, and has popularization value.

Description

Aircraft path planning method, system, device and storage medium

Technical Field

The disclosure relates to the technical field of path planning, and particularly discloses an aircraft path planning method, system, device and storage medium.

Background

As a novel inspection technology for inspecting equipment in an open area by using inspection equipment such as a visible light thermal infrared imager or the like, the unmanned aerial vehicle inspection system has the advantages of rapidness, high working efficiency, no influence by regions, high inspection quality, high safety and the like, greatly reduces the labor intensity of workers, improves the inspection efficiency, and ensures the operation and maintenance capability of the equipment in a real-time operation state.

In the prior art, in the process of polling a target object by using an unmanned aerial vehicle, the unmanned aerial vehicle is required to be in a constant speed state all the time, and a relatively fixed distance is required to be kept between the unmanned aerial vehicle and the target object so as to ensure the stability and reliability of shooting polling pictures, and in addition, the unmanned aerial vehicle is required to be ensured to avoid the collision risk between the unmanned aerial vehicle and an environmental barrier. To achieve these objectives, the prior art generally adopts a PID control method: the sum of three terms, namely proportion, integral and differential, is solved according to the difference value by making the difference according to the current state and the target state of the unmanned aerial vehicle, and the result is used as a control output result.

Disclosure of Invention

The present disclosure provides aircraft path planning methods, systems, devices, and computer-readable storage media for use in target inspection. The first aspect of the disclosure provides an aircraft path planning method applied to target object inspection, and the aircraft path planning method comprises the following steps:

generating a plurality of flyable target points within a preset range by taking the aircraft as the center based on the initial position of the aircraft and each preferred target point;

screening the flyable target points to obtain the optimal target points which are closest to the ideal flight path and can enable the aircraft to fly along the inspection direction;

controlling the aircraft to fly along the optimal target point to realize path planning;

the number of the preferred target points is at least such that the inspection range of the aircraft covers all regions of the target object on one side of the aircraft.

In one possible implementation of the first aspect, the obtaining the ideal flight path includes the following steps:

acquiring point cloud data of a target object to obtain a fitting curve which accords with the shape change of the target object;

and shifting the fitting curve to obtain an ideal flight path of which the distance between the target object and the aircraft meets the preset inspection condition.

In a possible implementation of the first aspect, during the flight of the aircraft, the method includes the following obstacle avoidance steps:

generating a first obstacle avoidance area which takes the flight direction of the aircraft as an axis and takes a preset safe length as a radius;

establishing an obstacle avoidance map which takes the aircraft as a center and comprises a target object and an obstacle;

and controlling the flight state of the aircraft so that the first obstacle avoidance area does not intersect with the target object and the obstacle in the obstacle avoidance map.

In one possible implementation of the first aspect, controlling the aircraft to fly along the preferred target point to implement the path planning includes the following steps:

establishing a planning path formed by connecting adjacent preferred target points;

and performing smoothing operation on the planned path to generate a preferred path containing the preferred target point.

And controlling the aircraft to fly along the preferred path.

In one possible implementation of the first aspect, controlling the aircraft to fly along the preferred path includes the steps of:

selecting a plurality of flight target points which are distributed discretely on the preferred path;

and controlling the aircraft to fly along the flying target points in sequence.

In a possible implementation of the first aspect, when the aircraft completes the current inspection path and needs to switch to the next inspection path, the aircraft path planning method includes the following steps:

generating a path switching arc line which takes the end point of the target object closest to the aircraft as the center and takes the preset safe length as the radius, wherein the end point of the current routing inspection path of the aircraft and the starting point of the next routing inspection path of the aircraft are both positioned on the path switching arc line;

generating a plurality of flyable target points in a preset range by taking the aircraft as the center when switching the target points based on the current position of the aircraft and each path;

screening the flyable target points to obtain the path switching target points which are closest to the path switching arc line and enable the aircraft to fly along the path switching direction;

controlling the aircraft to fly along a path switching target point so as to realize path planning in the routing inspection path switching process;

the number of the path switching target points at least enables the aircraft to reach the starting point of the next patrol route from the end point of the current patrol route.

In a possible implementation of the first aspect, the method for switching the inspection path of the aircraft includes the following obstacle avoidance steps:

generating a second obstacle avoidance area which takes the aircraft as a center and takes a preset safe length as a radius;

and controlling the flight state of the aircraft so that the second obstacle avoidance area does not intersect with the target object and the obstacle in the obstacle avoidance map.

A second aspect of the present disclosure provides an aircraft path planning system applied to target object inspection, which is applied to the aircraft path planning method applied to target object inspection provided in the foregoing first aspect;

this kind of aircraft path planning system includes:

the generating unit is used for generating a plurality of flyable target points within a preset range by taking the aircraft as the center based on the initial position of the aircraft and each preferred target point;

the screening unit is used for screening the flying target points to obtain the optimal target points which are closest to the ideal flying path and can enable the aircraft to fly along the inspection direction;

the control unit is used for controlling the aircraft to fly along the optimal target point so as to realize path planning;

the number of the target points is preferably at least such that the inspection range of the aircraft covers all regions of the target object on one side of the aircraft.

A third aspect of the present disclosure discloses an electronic device, comprising:

a memory for storing a computer program;

a processor for implementing the method for planning a path of an aircraft applied to inspection of an object as provided in the first aspect when executing the computer program.

A fourth aspect of the present disclosure discloses a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the aircraft path planning method applied to inspection of objects as provided in the first aspect.

Compared with the prior art, the method has the following beneficial effects:

the present disclosure provides an aircraft path planning method, system, device and computer-readable storage medium for object inspection. According to the technical scheme provided by the disclosure, a plurality of flying target points which take the aircraft as the center and are in a preset range can be generated based on the initial position of the aircraft and each preferable target point, the preferable target points which are closest to an ideal flying path and can enable the aircraft to fly in the inspection direction are screened out from the flying target points, and the aircraft is controlled to fly along the preferable target points so as to realize path planning. In the path planning process, the practical flight path of the aircraft can be kept consistent with the ideal flight path or surround the periphery of the ideal flight path as far as possible through continuous iteration of the flyable target point and the optimized target point, the routing inspection controllability and the safety of the aircraft are greatly improved, the routing inspection efficiency is improved, and the method has popularization value.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 shows a schematic flow diagram of an aircraft path planning method applied to inspection of a target object, according to an embodiment of the present disclosure;

FIG. 2 illustrates a schematic flow chart for obtaining an ideal flight path, according to an embodiment of the present disclosure;

FIG. 3a is a schematic diagram illustrating a fan blade image taken during fan blade inspection of an aircraft according to an embodiment of the present disclosure;

FIG. 3b illustrates a schematic distribution of a preferred path relative to an ideal flight path, in accordance with embodiments of the present disclosure;

fig. 4a shows a schematic diagram of a path planning flow in a case where the aircraft completes a current inspection path and needs to switch to a next inspection path, according to an embodiment of the present disclosure;

FIG. 4b illustrates a schematic diagram of a switching arc, in accordance with an embodiment of the present disclosure;

FIG. 5 illustrates a schematic structural diagram of a system of an aircraft path planning method, according to an embodiment of the present disclosure;

FIG. 6 illustrates a schematic structural diagram of an electronic device, according to an embodiment of the present disclosure;

FIG. 7 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present disclosure.

Detailed description of the invention

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the invention.

The term "including" and variations thereof as used herein is intended to be open-ended, i.e., "including but not limited to". Unless specifically stated otherwise, the term "or" means "and/or". The term "based on" means "based at least regionally". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first," "second," and the like may refer to different or the same object. Other explicit and implicit definitions are also possible below.

As described in the background, in the prior art, in the process of inspecting an object by using an unmanned aerial vehicle, the flight path of the unmanned aerial vehicle has a multi-dimensional requirement: firstly, ensuring that the unmanned aerial vehicle always flies at a constant speed and keeps a stable flying posture; secondly, the distance between the unmanned aerial vehicle and the target object needs to be kept relatively fixed, so that whether the defect of maintenance on the surface of the target object exists or not can be clearly and accurately fed back by the inspection picture shot by the unmanned aerial vehicle; finally, a certain safety distance is kept between the unmanned aerial vehicle and the environmental barrier in the process of inspection flight, and the collision risk caused by emergency (such as sudden movement of the environmental barrier or sudden change of wind power) is avoided.

It should be understood by those skilled in the art that, in order to reduce the labor intensity of the human beings and improve the inspection efficiency, the unmanned aerial vehicle does not always adopt a manual remote control mode in the process of executing the inspection task, but needs to perform flight path planning and attitude adjustment by itself according to the current inspection task execution condition. Based on the content introduced in the background art, the prior art generally adopts a PID control manner: the sum of three terms, namely proportion, integral and differential, is solved according to the difference value by making the difference according to the current state and the target state of the unmanned aerial vehicle, and the result is used as a control output result.

The technical personnel in the field can understand that the PID control mode can only make corresponding adjustment actions according to attitude information and position information fed back by the unmanned aerial vehicle at the current moment, and particularly under the condition that a large difference exists between the current state of the unmanned aerial vehicle and a preset target state, multiple parameter adjustments for the unmanned aerial vehicle need to be involved, so that the flight attitude of the unmanned aerial vehicle generates large oscillation within a very short time, the control precision often cannot achieve an expected effect, the flight state of the unmanned aerial vehicle is unstable, and potential risks such as crash exist. Meanwhile, under a complex external environment, factors such as wind influence and sensor errors can cause large deviation between an actual control result and an ideal control result of the PID control method, accurate path flight is difficult to achieve, and accordingly routing inspection efficiency of the unmanned aerial vehicle is reduced synchronously.

In some embodiments provided by the present disclosure, fig. 1 shows a flow diagram of an aircraft path planning method applied to inspection of a target object, aiming at the problems that a PID control method in the prior art is low in control accuracy and inspection efficiency of an unmanned aircraft is low. It can be understood that, in an actual application scenario corresponding to this embodiment, the aircraft used in this embodiment may be an unmanned aerial vehicle or other unmanned aerial vehicle, the aircraft flies around one or more sides of the target object, and the inspection process of the target object is implemented in the flight process by periodically shooting the target object images, and the real-time operation conditions and the potential risks of the target object may be analyzed and evaluated subsequently in the mode of image analysis and the like for the target object images obtained by shooting, which is not described herein again.

As shown in fig. 1, the aircraft path planning method provided by the present disclosure may include:

step 101: based on the initial position of the aircraft and each preferred target point, a number of flyable target points within a predetermined range centered on the aircraft are generated.

Step 102: and screening the flyable target points to obtain the optimal target points which are closest to the ideal flight path and can enable the aircraft to fly in the patrol direction. The number of the target points is preferably at least such that the inspection range of the aircraft covers all regions of the target object on one side of the aircraft.

Step 103: and controlling the aircraft to fly along the preferred target point to realize path planning.

It can be understood that the ideal flight path is a flight path that the aircraft needs to experience in performing the inspection process on the target object in an ideal state, and the aircraft may not be able to perform actual flight completely according to the ideal flight path in the actual flight process, for example, external interference such as wind force, sensor error, obstacle avoidance requirement and the like may be encountered in the flight process. Therefore, in the technical solution provided by the present disclosure, a number of flyable target points may be generated based on the initial position of the aircraft, and the distance between the flyable target points and the current position of the aircraft is constrained by a predetermined range. The preset range can be a safe flight range around the aircraft, the aircraft can fly to any target point position along a straight line in the safe flight range, and the risk of collision with an obstacle cannot be generated.

After obtaining a plurality of flyable target points, a preferred target point closest to the routing inspection direction and the ideal flight path needs to be selected from the flyable target points. Although the actual path of the aircraft during inspection flight is not always identical to the ideal flight path, the flight path and the ideal flight path are still required to be as consistent as possible or to be always around the ideal flight path through planning, and the requirement can be met through screening of the preferred target points. Further, after the first preferred target point is generated according to the initial position of the aircraft, new flyable target points and new preferred target points are continuously generated in an iterative manner by taking the preferred target point as a center until the number of the iteratively generated preferred target points at least enables the inspection range of the aircraft to cover all areas of the target object on one side of the aircraft, so that the route planning of the inspection process of the aircraft is realized through the distribution of the preferred target points, and the aircraft is controlled to sequentially fly along the preferred target points in sequence.

It will be appreciated that with the above described embodiment, the planning of the inspection path of the aircraft can be achieved by iteration of the flyable target points and the preferred target points. Considering that it is required to be as close as possible to the ideal flight path in the process of screening the preferred target point, the following will specifically describe and explain the manner of acquiring the ideal flight path: in some embodiments provided by the present disclosure, fig. 2 shows a flow chart for obtaining an ideal flight path. As shown in fig. 2, the method may specifically include:

step 201: and acquiring point cloud data of the target object to obtain a fitting curve which accords with the shape change of the target object.

It can be understood that the inspection process is a process of taking a picture of the surface of the object or performing infrared thermal imaging on the surface of the object to obtain a surface thermal imaging image, and the inspection route needs to be matched with the surface shape and distribution of the object. Considering that different target objects have different external shape characteristics, the point cloud data of the target objects can be acquired to generate a fitting curve which is in accordance with the surface shape change of the target objects and serves as a planning basis of an ideal flight path.

Step 202: and shifting the fitting curve to obtain an ideal flight path of which the distance between the target object and the aircraft meets the preset inspection condition.

It can be understood that in the process of shifting the fitted curve, real-time attitude information of the aircraft also needs to be acquired. The real-time attitude information may include current position information, speed information, acceleration information, angle information, a head orientation angle, a roll/pitch angle, and the like of the drone, which is not limited herein. On the basis, the real-time attitude information and the fitting curve can be input into a preset path planning model to obtain a corresponding ideal flight path, and the obtaining mode of the ideal flight path is not limited.

In the above embodiment, the ideal flight path is constrained by the preset inspection condition, where the preset inspection condition includes the inspection shooting requirement of the aircraft and the obstacle avoidance requirement of the aircraft, and the following description and explanation will be made by specific embodiments respectively for these two aspects.

In a specific practice of the above embodiment, the target object may be set as a fan blade, and then the aircraft may perform inspection image shooting along one face of the fan blade during inspection. In the above specific practical scenario, the inspection shooting requirements of the aircraft may include: in the process of flying the aircraft, periodically shooting fan blade images comprising edge information of the fan blades; and in the process that the aircraft flies along the ideal flight path, the proportion of the area occupied by the fan blade in the fan blade images shot periodically relative to the fan blade images is higher than a preset threshold value.

It will be appreciated that fig. 3a shows a schematic view of a fan blade image 301 taken during inspection of a fan blade 300 by an aircraft. As shown in fig. 3a, in the process of photographing the fan blade 300 by the aircraft, since the fan blade 300 is excessively large with respect to the photographable range of the aircraft, it is necessary to implement the inspection process for one fan blade 300 by continuously photographing a plurality of times. In order to ensure that the subsequent analysis process of the inspection shot image can be smoothly carried out, the aircraft requires that the camera cannot be too close to the blade or too far away from the blade in the shooting process, the loss condition possibly existing at the edge of the blade cannot be shot if the camera is too close to the blade, and meanwhile, the aircraft has higher collision risk; too far away, the sharpness of the acquired fan blade image is too low to identify possible surface defects from the image. Therefore, the two constraint conditions can be set, the fact that the edge part of the fan blade can be arranged in each shooting process of the aircraft in the flying process is guaranteed, meanwhile, the image occupation ratio of the fan blade is high, and therefore the shooting definition can meet the related requirements of follow-up routing inspection analysis.

In another specific practice of the above embodiment, during the flight of the aircraft, the following obstacle avoidance steps may also be included: generating a first obstacle avoidance area which takes the flight direction of the aircraft as an axis and takes a preset safe length as a radius; establishing an obstacle avoidance map which takes the aircraft as a center and comprises a target object and an obstacle; and controlling the flight state of the aircraft to ensure that the first obstacle avoidance area does not intersect with the target object and the obstacle in the obstacle avoidance map.

It can be understood that the first obstacle avoidance area may be a cylindrical area adjusted according to the flight direction of the aircraft, the obstacle avoidance map may be an octree map including the target object and other obstacles existing in the surrounding environment, the constraint condition requires that the first obstacle avoidance area and the obstacles do not intersect during the flight of the aircraft, and the octree map is a flexible and compressible map capable of being updated in real time and reflecting the distribution of the obstacles around the aircraft. The collision risk of the aircraft in the flight process can be reduced as much as possible through the constraint of the obstacle avoidance condition.

In some embodiments of the present disclosure, in controlling the aircraft to fly along the preferred target point to implement the path planning, in order to make the flight path of the aircraft as smooth as possible, the following steps may be performed: firstly, establishing a planning path formed by connecting adjacent preferred target points; secondly, performing smooth operation on the planned path to generate a preferred path containing a preferred target point; and finally controlling the aircraft to fly along the preferred path.

It can be understood that, after a series of preferred target points are simply found, the broken line formed by connecting the preferred target points is not smooth enough, so that the swinging of the aircraft or the unbalance of the flight attitude is easily caused, and the risk of collision and runaway is greatly increased, therefore, the path planning of the aircraft can be further optimized by executing the broken line smoothing operation. In the above embodiment, the smoothing operation may specifically adopt a B-spline curve to optimize the broken line formed by connecting the preferred target points, so as to smooth the planned flight path as much as possible. For example, fig. 3b shows a schematic distribution of a preferred path relative to an ideal flight path in an embodiment of the present application. As shown in fig. 3B, when the target object is set as the fan blade 300, the ideal flight path 302 may be a curve that undulates along one side of the fan blade 300, and the preferred path 303 obtained by B-spline curve optimization is as consistent as possible with the ideal flight path 302 or always surrounds the ideal flight path 302, and the trajectory of the preferred path 303 is relatively smooth, so that the aircraft can keep the flight attitude as stable as possible during the flight along the preferred path 303.

Further, in the above embodiment, the controlling the aircraft to fly along the preferred path may further include: and selecting a plurality of discretely distributed flight target points on the optimal path, and further controlling the aircraft to sequentially fly along the flight target points.

In some embodiments of the present disclosure, the aircraft may also experience a deviation from the flight path during flight due to factors such as wind forces. When a deviation of the aircraft occurs, the process of establishing the flyable target points and the preferred target points provided by the series of previous embodiments may be repeated in order to make the transition of the aircraft from the deviated position to the suitable flight path as smooth as possible.

It can be understood that, in the solutions provided in the foregoing embodiments, path planning is performed on a unidirectional single inspection process of an aircraft, and the unidirectional single inspection often cannot achieve comprehensive inspection of a target object. Similarly, taking a fan blade as an example of a target object, a complete inspection process needs to shoot and inspect two side surfaces and two edges of the blade once, that is, at least four inspection paths need to be planned, and the technical aspect provided by the foregoing embodiment can only realize the planning of each inspection path, but cannot cover the path switching planning among the inspection paths. Thus, in some embodiments of the present disclosure, fig. 4a shows a path planning flow diagram in the case where the aircraft completes the current patrol path and needs to switch to the next patrol path. As shown in fig. 4a, the method may specifically include the following steps:

step 401: and generating a path switching arc line which takes the end point of the target object closest to the aircraft as the center and takes the preset safe length as the radius, wherein the end point of the current routing inspection path of the aircraft and the starting point of the next routing inspection path of the aircraft are both positioned on the path switching arc line.

Further, fig. 4b shows a schematic diagram of a switching arc. Also taking a fan blade as an example of the target object, in the process of generating the switching arc line, the blade tip 400a of the fan blade closest to the aircraft may be used as the center, the preset safe length r is used as the radius to form the switching arc line 400, and the end point 400b of the current routing inspection path and the start point 400c of the next routing inspection path are both required to be located on the switching arc line 400. Preferably, the central angle of the switching arc 400 is smaller than or equal to 180 degrees, so that the flying distance of the aircraft in the routing inspection path switching process is guaranteed to be as small as possible.

Step 402: and generating a plurality of flyable target points within a preset range by taking the aircraft as the center when switching the target point based on the current position of the aircraft and each path.

Step 403: and screening the flyable target points to obtain the path switching target points which are closest to the path switching arc and enable the aircraft to fly along the path switching direction. The number of the path switching target points at least enables the aircraft to reach the starting point of the next patrol route from the terminal point of the current patrol route.

Step 404: and controlling the aircraft to fly along the path switching target point so as to realize path planning in the routing inspection path switching process. It is understood that, in the steps 402 to 404, the route planning in the patrol route switching process is still performed in an iterative manner using the flyable target point and the preferred target point provided in the foregoing embodiment, except that the ideal flying route is predetermined as the switching arc.

In a specific practice of the above embodiment, the method for switching the inspection path of the aircraft may further include the following obstacle avoidance step: generating a second obstacle avoidance area which takes the aircraft as a center and takes a preset safe length as a radius; establishing an obstacle avoidance map which takes the aircraft as a center and comprises a target object and an obstacle; and controlling the flight state of the aircraft to ensure that the second obstacle avoidance area does not intersect with the target object and the obstacle in the obstacle avoidance map.

It is understood that the second obstacle avoidance area may be a spherical area adjusted according to the aircraft position, unlike the cylindrical first obstacle avoidance area referred to in the foregoing embodiment. The method considers that the adjustment frequency and the adjustment angle of the flight direction of the aircraft are large in the routing inspection path switching process, the real-time calculation amount required by establishing the obstacle avoidance area in a cylindrical mode is large and complex, and the spherical obstacle avoidance area is flexible and better meets the obstacle avoidance requirement in the routing inspection path switching process. The collision risk of the aircraft in the routing inspection path switching process can be reduced as much as possible through the constraint of the obstacle avoidance condition.

In some embodiments of the present disclosure, fig. 5 provides an aircraft path planning system applied to object inspection, which is applied to the aircraft path planning method applied to object inspection provided in the foregoing embodiments. As shown in fig. 5, the aircraft path planning system may include:

and the generating unit 001 is used for generating a plurality of flyable target points within a preset range by taking the aircraft as the center based on the initial position of the aircraft and each preferable target point.

And the screening unit 002 is used for screening the flying target points to obtain the optimal target points which are closest to the ideal flying path and can enable the aircraft to fly along the inspection direction. The number of the preferred target points is at least such that the inspection range of the aircraft covers all regions of the target object on one side of the aircraft.

And the control unit 003 is used for controlling the aircraft to fly along the preferred target points so as to realize path planning.

It should be understood that the functions implemented by the functional module generating unit 001 to the control unit 003 correspond to the operations performed in the foregoing steps 101 to 103, and are not described herein again.

It should be understood that aspects of the disclosed technology may be implemented as a system, method or program product. Accordingly, aspects of the disclosed subject matter may be embodied in the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a "circuit," module "or" platform. It will be understood by those skilled in the art that the units or modules or steps of the present disclosure described above may be implemented by a general purpose computing device, they may be centralized in a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage medium and executed by a computing apparatus, and in some cases, the steps shown or described may be executed in an order different from that described herein, or they may be separately fabricated as individual integrated circuit modules, or multiple modules or steps therein may be fabricated as a single integrated circuit module.

Fig. 6 illustrates a schematic structural diagram of an electronic device, according to some embodiments of the present disclosure. An electronic apparatus 600 implemented according to the implementation method in the present embodiment is described in detail below with reference to fig. 6. The electronic device 600 shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of any embodiment of the technical solution of the present disclosure.

As shown in fig. 6, the electronic device 600 is in the form of a general purpose computing device. The set-up of the electronic device 600 may include, but is not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different platform components (including the memory unit 620 and the processing unit 610), a display unit 640, and the like.

The storage unit stores program codes, and the program codes can be executed by the processing unit 610, so that the processing unit 610 executes implementation of each functional module in the aircraft path planning system in this embodiment.

The storage unit 620 may include readable media in the form of volatile memory units, such as a random access unit (RAM) 6201 and/or a cache memory unit 6202, which may further include a read-only memory unit (ROM) 6203.

The memory unit 620 may also include programs/utilities 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 630 may represent one or more of any of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an image acceleration port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in FIG. 6, other hardware and/or software modules may be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.

In some embodiments of the present disclosure, a computer-readable storage medium is also provided, on which a computer program is stored, which, when being executed by a processor, is capable of implementing the implementation of the respective functional modules in the aircraft path planning system of the above disclosure.

Although this embodiment does not exhaustively enumerate other specific implementation methods, in some possible implementation methods, the aspects described in the technical solution of the present disclosure may also be implemented in the form of a program product including program code for causing a terminal device to execute the steps of the implementation methods according to the various embodiments of the technical solution of the present disclosure described in the image stitching method area of the technical solution of the present disclosure when the program product is run on the terminal device.

FIG. 7 illustrates a structural schematic of a computer-readable storage medium, according to some embodiments of the disclosure. As shown in fig. 7, a program product 800 for implementing the method according to the embodiment of the present disclosure is described, which may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be run on a terminal device, such as a personal computer. Of course, the program product generated according to the embodiment is not limited thereto, and in the technical solution of the present disclosure, the readable storage medium may be any tangible medium containing or storing the program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the C language or similar programming languages. The program code may execute entirely on the user's computing device, regionally on the user's device, as a stand-alone software package, regionally on a remote computing device on the user's computing device, or entirely on the remote computing device or server. In situations involving remote computing devices, the remote computing devices may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to external computing devices (e.g., through the internet using an internet service provider).

In summary, the present disclosure provides an aircraft path planning method, system, device and computer-readable storage medium for target object inspection. According to the technical scheme provided by the disclosure, a plurality of flying target points which take the aircraft as the center and are in a preset range can be generated based on the initial position of the aircraft and each preferable target point, the preferable target points which are closest to an ideal flying path and can enable the aircraft to fly in the inspection direction are screened out from the flying target points, and the aircraft is controlled to fly along the preferable target points so as to realize path planning. In the path planning process, the continuous iteration of the flyable target point and the optimized target point ensures that the actual flight path of the aircraft can be kept as consistent as possible with the ideal flight path or surround the periphery of the ideal flight path, greatly improves the routing inspection controllability and safety of the aircraft, improves the routing inspection efficiency, and has popularization value.

The above description is only for the purpose of describing the preferred embodiments of the present disclosure, and is not intended to limit the scope of the present disclosure, and any variations and modifications made by those skilled in the art of the present disclosure based on the above disclosure are within the scope of the appended claims.

Claims

1. An aircraft path planning method applied to target object inspection is characterized by comprising the following steps:

screening the flyable target points to obtain the optimal target points which are closest to an ideal flight path and can enable the aircraft to fly in the inspection direction;

controlling the aircraft to fly along the preferred target point to realize path planning;

the number of the preferred target points at least enables the inspection range of the aircraft to cover all areas of the target object on one side of the aircraft.

2. The aircraft path planning method according to claim 1, wherein said obtaining an ideal flight path comprises the steps of:

acquiring point cloud data of the target object to obtain a fitting curve which accords with the shape change of the target object;

and shifting the fitted curve to obtain the ideal flight path of which the distance between the target object and the aircraft meets the preset inspection condition.

3. The aircraft path planning method according to claim 1, wherein during the flight of the aircraft, the method comprises the following obstacle avoidance steps:

establishing an obstacle avoidance map which takes the aircraft as a center and comprises the target object and an obstacle;

controlling the flight state of the aircraft so that the first obstacle avoidance area does not intersect with the target object and the obstacle in the obstacle avoidance map.

4. The aircraft path planning method according to claim 1, wherein the controlling the aircraft to fly along the preferred target point to achieve the path planning comprises the steps of:

Controlling the aircraft to fly along the preferred path.

5. An aircraft path planning method according to any one of claim 4 in which the step of controlling the aircraft to fly along the preferred path comprises the steps of:

and controlling the aircraft to fly along the flight target points in sequence.

6. The aircraft path planning method according to claim 1, wherein in the case where the aircraft completes a current patrol route and needs to switch to a next patrol route, the aircraft path planning method comprises the steps of:

generating a path switching arc line which takes the end point of the target object closest to the aircraft as a center and takes a preset safe length as a radius, wherein the end point of the current routing inspection path of the aircraft and the starting point of the next routing inspection path of the aircraft are both positioned on the path switching arc line;

generating a plurality of flyable target points within a preset range by taking the aircraft as the center when switching the target points based on the current position of the aircraft and each path;

screening the flyable target points to obtain the path switching target points which are closest to the path switching arc and enable the aircraft to fly in a path switching direction;

controlling the aircraft to fly along the path switching target point so as to realize path planning in the routing inspection path switching process;

wherein the number of the path switching target points is at least capable of enabling the aircraft to reach the starting point of the next patrol route from the end point of the current patrol route.

7. The aircraft path planning method according to claim 6, wherein the process of switching the patrol path of the aircraft comprises the following obstacle avoidance steps:

controlling the flight state of the aircraft so that the second obstacle avoidance area does not intersect with the target object and the obstacle in the obstacle avoidance map.

8. An aircraft path planning system applied to target object inspection is characterized by being applied to the aircraft path planning method applied to target object inspection according to any one of claims 1 to 7;

the aircraft path planning system comprises:

the screening unit is used for screening the flyable target points to obtain the optimal target points which are closest to an ideal flight path and can enable the aircraft to fly along the inspection direction;

the control unit is used for controlling the aircraft to fly along the preferred target point so as to realize path planning;

9. The utility model provides an aircraft path planning equipment for fan blade is patrolled and examined which characterized in that includes:

a memory for storing a computer program;

a processor for implementing the method of aircraft path planning for fan blade inspection according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of planning a path of an aircraft for fan blade inspection according to any one of claims 1 to 7.