关键词: 多视角, 视点规划, 全覆盖, 无人机巡检

Abstract: When Unmanned Aerial Vehicle (UAV) is applied to the inspection of electric equipment,it is very important to improve the inspection efficiency and the quality of inspection data.Thus,a new Multi-Directional View Point Planning algorithm (MD-VPP) for the inspection of known complex equipment structures was present,which could greatly reduce the number of waypoints while satisfying the requirement of comprehensive coverage inspection target and data acquisition quality.A view quality function of continuous and differentiable view acquisition was constructed with the pitch,yaw and camera projection of PTZ as constraints,and the candidate view sets was optimized,and then the waypoint pose of the coveraged object was solved by greedy algorithm.The number and reduction rate of waypoints under different patrol objects were compared and analyzed experimentally.Compared to other excellent methods in the field,the proposed method reduced the number of waypoints by at least 77% while ensuring full coverage and greatly improved the data acquisition efficiency of a single UAV operation.

Key words: multiple direction, viewpoint planing, full coverage, unmanned aerial vehicle inspection