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A 3D Model Based UAV Coverage Path Planning Method

A 3D model and coverage path technology, applied in the field of UAVs, can solve the problem of being unable to evaluate the full coverage of UAV flight routes, and achieve the effect of reducing costs and improving detection efficiency

Active Publication Date: 2022-04-15
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, the use of a handheld remote control to control the UAV to fly on the ground makes it impossible to evaluate whether the UAV flight route has achieved full coverage

Method used

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  • A 3D Model Based UAV Coverage Path Planning Method
  • A 3D Model Based UAV Coverage Path Planning Method
  • A 3D Model Based UAV Coverage Path Planning Method

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Embodiment Construction

[0042] Below in conjunction with accompanying drawing of description, the present invention will be further described.

[0043] The present invention provides a large-scale flexible body deformation monitoring device and method, taking the aircraft surface detection task as an example, such as figure 1 shown, including the following steps:

[0044] S1: Determine the size of the viewing cone of the drone, and establish the spatial bounding box of the 3D model;

[0045] S2: Design a 3D grid map in combination with the frustum and bounding box, and arrange the UAV measurement points;

[0046] S3: Plan the UAV measurement path on the surface of the 3D model.

[0047] Further, the determination of the size of the viewing cone of the drone and the establishment of a spatial bounding box of the three-dimensional model include the following steps:

[0048] S11: Define the size of the viewing cone of the drone, ensure that the working distance and coverage area of ​​the viewing con...

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Abstract

The invention discloses a method for planning a UAV coverage path based on a three-dimensional model, comprising the following steps: determining the size of the viewing cone of the UAV, establishing a space bounding box of the three-dimensional model; and designing a three-dimensional grid map in combination with the viewing cone and the bounding box , define the attributes of the grid, arrange the UAV measurement points on the surface of the 3D model; plan the UAV measurement path on the surface of the 3D model according to the measurement points. A three-dimensional model-based UAV coverage path planning method of the present invention can effectively reduce the detection time, and at the same time ensure the safety between the UAV and the three-dimensional object, and realize the detection without omission on the surface of the three-dimensional object.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a three-dimensional model-based coverage path planning method for unmanned aerial vehicles. Background technique [0002] In recent years, UAVs have been widely used in various fields due to their advantages of flexibility, portability and low cost. The introduction of UAVs in aircraft surface inspection tasks has effectively reduced costs. In the traditional aircraft surface inspection task, the staff needs to visually inspect the aircraft surface, or combine the lifting platform and the crane to realize the inspection of the aircraft fuselage surface. The UAV-based aircraft surface inspection solution reduces labor costs and improves time efficiency. [0003] Most of the existing UAV path planning methods are realized on the basis of two-dimensional maps. However, the task of surface detection for aircraft is based on three-dimensional space as the application scenario,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101G05D1/0094G06T17/10G06T2210/12G06T17/05B64U2201/10B64U2101/26
Inventor 汪俊戴佳佳
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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