3 MULTILAYERBASED COVERAGE PATH PLANNING ALGORITHM METHOD OF UNMANNED AERIAL VEHICLE FOR THREE DIMENSIONAL STRUCTURAL INSPECTION AND THE SYSTEM THEREOF

摘要

The present invention relates to a multi-layer based coverage path planning method of a drone unit for a three-dimensional structure diagnosis and a system thereof, comprising: a step of moving the drone unit flying toward the structure and photographing an image of the structure; a step of voxelizing the image information for the structure and dividing the image information into any number of layers having a predetermined height; and a step of calculating a coverage path of the drone unit by updating a point of a layer path overlapping in an adjacent layer due to an initial starting point of each of the divided multiple layers. Therefore, an objective of the present invention is to provide a technique capable of efficiently and quickly planning the coverage path covering an entire area of a target structure using a limited drone unit flight time and sensor system using a coverage path planning algorithm.