CN110427041A - A kind of heat-net-pipeline unmanned plane cruise system and method - Google Patents
A kind of heat-net-pipeline unmanned plane cruise system and method Download PDFInfo
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
Technical solution of the present invention includes a kind of heat-net-pipeline unmanned plane cruise system and method, for realizing: including unmanned plane cruising device, cruise acquisition image information is carried out to specified heat-net-pipeline overlay area for building image collecting device；Backstage Cloud Server, for remotely being controlled and managed operation to unmanned plane cruising device, receive the specified heat-net-pipeline overlay area that unmanned plane cruising device is sent back to collection in worksite information and according to collection in worksite information analysis pipeline whether exception and Exception Type.The invention has the benefit that more safety, the information such as target topography and geomorphology, hydrometeorology are understood quickly, foundation can be provided for pipeline routing, provide guidance for the route choosing of heat distribution pipeline feasibility study stage, influence to the Safety production questions of construction, construction equipment, pipeline rout and ambient enviroment is observed, timely Adjusted Option, guarantee is smoothly completed by design requirement, effectively reduces pipeline routine use rate of breakdown.
Description
Technical field
The present invention relates to a kind of heat-net-pipeline unmanned plane cruise system and methods, belong to pipe-line construction maintenance area.
Background technique
It is the high pollution arcola of dispersion, small with the propulsion of national " energy-saving and emission-reduction " policy and prevention and control of air pollution action
Thermoelectricity gradually carries out central heating by the coal-fired large-sized unit of ultra-clean discharge and natural gas thermoelectricity unit substitution.Heat distribution pipe network covering
Range is increasing, and the heat distribution pipe network that interconnects, extra long distance heat distribution pipe network have all been built up between city and suburb and city
Conveying radius has been more than 30 kilometers, some pipe networks are in the complex topographic territories such as wilderness field, farmland vegetable plot, network of rivers wetland.
The mode for manually examining on the spot measuring and calculating, manual mapping mark, manpower object are taken in traditional pipe-line selection
Power cost requirement is high, and acquires data sheet one, poor in timeliness, processing heavy workload, and inspection quality is lower with efficiency, is difficult to do
To all standing, it is easy to happen missing inspection, does not adapt to the needs of current pipeline Fast Construction.Leakage occurs for heat distribution pipe network, bracket is slided
De-, failsafe valve, insulation failure or the emergencies such as collision that have an accident cannot but be found in time.The confession of many heat users
Warm to interrupt, heat distribution pipe network, which once breaks down, to be caused for thermal break, will generate biggish safety to downstream heat user
Hidden danger and economic loss.Quality and efficiency that heat distribution pipe network operational reliability key is monitoring are improved, as early as possible discovery pipe
Net hidden danger and defect, take Disposal Measures in time, avoid generating greater loss.
In recent years, civilian unmanned plane improves quickly in terms of safety, load-carrying ability both at home and abroad, especially high-precision, height
The appearance of the airborne detecting devices of performance, lightness and the progress of navigator fix, observation and control technology, are greatly promoted nobody
The development of machine intelligent patrol detection technology.Therefore it is badly in need of efficient, intelligent, the completely new heat distribution pipe network patrol mode of one kind to adapt to work as front tube
Road Fast Construction and the needs of maintenance.
Summary of the invention
To solve the above problems, the purpose of the present invention is to provide a kind of heat-net-pipeline unmanned plane cruise system and method,
Including unmanned plane cruising device, cruise acquisition image is carried out to specified heat-net-pipeline overlay area for building image collecting device
Information；Backstage Cloud Server receives unmanned plane cruise dress for remotely being controlled and being managed operation to unmanned plane cruising device
Set the collection in worksite information of the specified heat-net-pipeline overlay area sent back to and whether different according to collection in worksite information analysis pipeline
Normal and Exception Type；Communication module, for establishing the communication connection of unmanned plane cruising device Yu backstage Cloud Server.
On the one hand technical solution used by the present invention solves the problems, such as it is: a kind of heat-net-pipeline unmanned plane cruise system,
It is characterised by comprising: unmanned plane cruising device, carries out specified heat-net-pipeline overlay area for building image collecting device
Cruise acquisition image information；Backstage Cloud Server is received for remotely being controlled and being managed operation to unmanned plane cruising device
The collection in worksite information for the specified heat-net-pipeline overlay area that unmanned plane cruising device is sent back to and according to collection in worksite information point
Analyse pipeline whether exception and Exception Type, wherein management operation include but is not limited to cruise route, cruise time and cruise
The management in period；Communication module, for establishing the communication connection of unmanned plane cruising device Yu backstage Cloud Server.
Further, described image acquisition device be visible image capturing head, for acquire target area landform landforms and
Hydrometeorological information, and collected information back is analyzed and processed to backstage cloud service.
Further, the backstage Cloud Server further include: image information processing unit is used for unmanned plane cruising device
The image information of acquisition is spliced and is handled, and the panoramic picture with geography information is obtained；Pipeline air map generation unit,
For generating complete correctly pipeline air map according to panoramic picture.
Further, described image acquisition device further includes visible image capturing head and thermal imaging camera: thermal imaging camera shooting
Head is used for Target pipe temperature, when the projecting environment temperature certain value of temperature, visible image capturing head is called to shoot corresponding area
The live live-pictures in domain, wherein certain value can customize；The scene that visible image capturing head is used to shoot specified region is shone in real time
Piece, and pass back to backstage Cloud Server analysis corresponding region whether exception and Exception Type.
Further, the backstage Cloud Server further includes unmanned plane cruising device manual control unit, is used for user hand
Dynamic control unmanned plane, flare maneuver, adjustment flight attitude and the shooting of adjustment holder in real time including real-time control unmanned plane
Angle and movement, wherein holder movement includes pitching, rotation and zoom.
Further, the backstage Cloud Server further include: course line setting unit, for unmanned plane cruising device to be arranged
Cruise route, cruise time and cruise period, wherein further including the emphasis inspection of key point.
On the other hand technical solution used by the present invention solves the problems, such as it is: a kind of heat-net-pipeline unmanned plane cruise side
Method, which comprises the following steps: S100, unmanned plane cruising device cruise to specified heat-net-pipeline overlay area
Acquire image information；S200, backstage Cloud Server receive the real-time live information that unmanned plane cruising device is sent back to, and according to scene
Real-time condition is remotely controlled and is managed operation to unmanned plane cruising device；S300, receive what unmanned plane cruising device was sent back to
The collection in worksite information of specified heat-net-pipeline overlay area and whether abnormal and different according to collection in worksite information analysis pipeline
Normal type.
Further, the real-time live information includes topography and geomorphology, traffic and hydrometeorological information.
Further, the S300 further include: S301, by the image information that unmanned plane cruising device acquires splice with
And processing, obtain the panoramic picture with geography information；S302, complete correctly pipeline air map is generated according to panoramic picture.
Further, further includes: S1, the cruise route that unmanned plane cruising device is set, cruise time and cruise period,
Cruise plan is obtained, wherein further including the emphasis inspection of key point；S2, unmanned plane cruising device execute cruise according to cruise plan
Task, and mode returns to server by wireless communication by corresponding informance.
The beneficial effects of the present invention are: target topography and geomorphology, water is understood quickly more for safety in substitution manual work
The vigour of style as etc. information, can be provided for pipeline routing according to, for the route choosing of heat distribution pipeline feasibility study stage provide finger
It leads, the influence etc. to the Safety production questions of construction, construction equipment, pipeline rout and ambient enviroment is observed, and is adjusted in time
Perfect square case, guarantee are smoothly completed by design requirement, carry out efficient detection cruise to target area working condition and to fault point
Precise positioning is carried out, rate of breakdown is effectively reduced.
Detailed description of the invention
Fig. 1 is system structure diagram according to the preferred embodiment of the invention；
Fig. 2 is method flow schematic diagram according to the preferred embodiment of the invention；
Fig. 3 is the schematic diagram of line data-logging according to an embodiment of the present invention；
Fig. 4 is setting schematic diagram in course line according to an embodiment of the present invention.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as the upper and lower, left and right used in open are only the mutual alignment pass relative to each component part of the disclosure in attached drawing
For system.The "an" of used singular, " described " and "the" are also intended to including most forms in the disclosure, are removed
Non- context clearly expresses other meaning.In addition, unless otherwise defined, all technical and scientific terms used herein
It is identical as the normally understood meaning of those skilled in the art.Term used in the description is intended merely to describe herein
Specific embodiment is not intended to be limiting of the invention.Term as used herein "and/or" includes one or more relevant
The arbitrary combination of listed item.
It will be appreciated that though various elements, but this may be described using term first, second, third, etc. in the disclosure
A little elements should not necessarily be limited by these terms.These terms are only used to for same type of element being distinguished from each other out.For example, not departing from
In the case where disclosure range, first element can also be referred to as second element, and similarly, second element can also be referred to as
One element.The use of provided in this article any and all example or exemplary language (" such as ", " such as ") is intended merely to more
Illustrate the embodiment of the present invention well, and unless the context requires otherwise, otherwise the scope of the present invention will not be applied and be limited.
It is system structure diagram according to the preferred embodiment of the invention referring to Fig.1,
Include: unmanned plane cruising device, specified heat-net-pipeline overlay area is patrolled for building image collecting device
Boat acquisition image information；Backstage Cloud Server receives nothing for remotely being controlled and being managed operation to unmanned plane cruising device
The collection in worksite information for the specified heat-net-pipeline overlay area that man-machine cruising device is sent back to and according to collection in worksite information analysis
Pipeline whether exception and Exception Type, wherein management operation include but is not limited to cruise route, the cruise time and cruise week
The management of phase；Communication module, for establishing the communication connection of unmanned plane cruising device Yu backstage Cloud Server.
Further, described image acquisition device be visible image capturing head, for acquire target area landform landforms and
Hydrometeorological information, and collected information back is analyzed and processed to backstage cloud service.
Further, the backstage Cloud Server further include: image information processing unit is used for unmanned plane cruising device
The image information of acquisition is spliced and is handled, and the panoramic picture with geography information is obtained；Pipeline air map generation unit,
For generating complete correctly pipeline air map according to panoramic picture.
Further, described image acquisition device further includes visible image capturing head and thermal imaging camera: thermal imaging camera shooting
Head is used for Target pipe temperature, when the projecting environment temperature certain value of temperature, visible image capturing head is called to shoot corresponding area
The live live-pictures in domain, wherein certain value can customize；The scene that visible image capturing head is used to shoot specified region is shone in real time
Piece, and pass back to backstage Cloud Server analysis corresponding region whether exception and Exception Type.
Further, the backstage Cloud Server further includes unmanned plane cruising device manual control unit, is used for user hand
Dynamic control unmanned plane, flare maneuver, adjustment flight attitude and the shooting of adjustment holder in real time including real-time control unmanned plane
Angle and movement, wherein holder movement includes pitching, rotation and zoom.
Further, the backstage Cloud Server further include: course line setting unit, for unmanned plane cruising device to be arranged
Cruise route, cruise time and cruise period, wherein further including the emphasis inspection of key point.
It is method flow schematic diagram according to the preferred embodiment of the invention referring to Fig. 2,
The following steps are included:
S100, unmanned plane cruising device carry out cruise acquisition image information to specified heat-net-pipeline overlay area；
S200, backstage Cloud Server receive the real-time live information that unmanned plane cruising device is sent back to, and according to live real-time
Situation is remotely controlled and is managed operation to unmanned plane cruising device；
S300, the collection in worksite information and root for receiving the specified heat-net-pipeline overlay area that unmanned plane cruising device is sent back to
According to collection in worksite information analysis pipeline whether exception and Exception Type.
Further, the real-time live information includes topography and geomorphology, traffic and hydrometeorological information.
Further, the S300 further include: S301, by the image information that unmanned plane cruising device acquires splice with
And processing, obtain the panoramic picture with geography information；S302, complete correctly pipeline air map is generated according to panoramic picture.
Further, further includes: S1, the cruise route that unmanned plane cruising device is set, cruise time and cruise period,
Cruise plan is obtained, wherein further including the emphasis inspection of key point；S2, unmanned plane cruising device execute cruise according to cruise plan
Task, and mode returns to server by wireless communication by corresponding informance.
It is the schematic diagram of line data-logging according to an embodiment of the present invention referring to Fig. 3,
Unmanned plane flies along heat distribution pipeline overhead to be patrolled, and unmanned plane carries high property under automatic offline mode
Energy visible light holder, is directed toward heat distribution pipeline to be patrolled, and acquires pipeline details image and is simultaneously back in real time by radio remote distance
Earth station, earth station, can also be by the corresponding big of UAV Video image real-time Transmission to central station of floating dock by 4G network transmission function
On screen.
Unmanned plane flies on heating pipeline to be inspected, by line conditions shooting at high definition photo, photo is imported special
After software, splicing, the processing of photo can be carried out, goes out complete pipeline air map according to response data plotting.And unmanned heat
Holder is imaged or double spectrum holders carry out pipeline inspection, there is night work ability.
Unmanned plane monitors in real time according to visible image capturing head during setting route inspection and thermal imaging camera whole process, when
Thermal imaging camera detection (is set above 45 DEG C of alarms, heat-net-pipeline during heating when being higher than peripheral temperature to line temperature
Generally at 45 DEG C~90 DEG C, tube circumference ambient temperature has more obvious internal supply and return water temperature generally at 0 DEG C~35 DEG C or so
The temperature difference), unmanned plane can alarm at once to Master Control Room and pass through visible image capturing head passback scene photograph, and monitoring personnel can pass through
Photo analysis field accident type,
As pipe insulating layer damage leads to that pipeline is exposed outside, pipeline breaking leads to leak or has nearby residents burning to take
It is warm to lead to temperature anomaly.
Emphasis label can be carried out to pipeline important node and heat exchange station when unmanned plane course line is arranged, control unmanned plane pair
Such target does 360 ° of orbits, so that whether operator on duty is complete by monitoring center large screen object observing peripheral facilities
It is good.If whether someone constructs on pipeline ground, whether heat exchange station door and window is intact, and whether there is or not be destroyed.
When meeting with the unexpected natural calamities such as flood, mud-rock flow, earthquake, landslide, unmanned plane is not by orographic condition
It influences, carries high aloof from politics and material pursuits zoom holder, being rapidly achieved disaster-stricken position, to reconnoitre pipeline damaged location, damage situations and periphery secondary
Disaster scenarios it provides intelligence supports to formulate maintenance Rush Repair Scheme, while also safeguarding for subsequent rescue and providing data.
When leakage occurs, booster etc. happen suddenly safety accident when, unmanned plane can quick response arrive at the destination, to field condition
Presented, and image can be back to command centre, for center commanding subsequent schedule formulation provide scene it is first-hand
Material.
There are two types of control modes for aircraft: manual manipulation and automatic flight can be carried out according to use habit and use environment
Selection and switching.
Manual manipulation
Manual manipulation is to manipulate aircraft and holder by remote controler, can adjust flying for aircraft according to task situation at any time
Line direction, route and camera shooting angle.
(1) flying vehicles control
Earth station can real-time control aircraft flare maneuver, adjust flight attitude.Flight uses hand under complicated landform
The mode safety of dynamic manipulation is higher.In the case where barrier is more and needs low-latitude flying, by the way of manual manipulation
The barrier in flight line can be avoided in time.During executing some emergency tasks, because target motion direction is not fixed,
It is more flexible by the way of manual manipulation.
(2) cradle head control
Holder can be manipulated by earth station's rocking bar, ground station software peace platform software, adjust holder in real time
Shooting angle sees target detail information clearly.The movement that can control holder includes: pitching, rotation and zoom.
The flight path of aircraft is arranged in automatic flight by ground station software, is suitable for fixed point, fixed route or
Fixed area cruise.Automatic flight supports that a key takes off, a key makes a return voyage, gives directions the functions such as flight, trajectory planning.
One key takes off
Unmanned plane is unfolded and enters after flying state, can start aircraft motor by ground station software, and use one
Take off function control unmanned plane automatic takeoff and hovering at 2m of key is awaited orders.
One key makes a return voyage
After unmanned plane has executed task, the function control unmanned plane that can be maked a return voyage by a key makes a return voyage a little, automatic to drop
It falls and stops motor.When task is maked a return voyage in execution automatically, unmanned plane is straight again after first climbing to preset minimum cruise-in altitude
Line makes a return voyage, and guarantees the safety of flight.
Point of interest is surround
By the settable point of interest location of ground station software and around radius, unmanned plane can be enclosed according to the circular radius of setting
It flies around point of interest.The function can be applied to large scale equipment inspection, high-altitude investigation etc..Unmanned plane can quickly fly to target overhead simultaneously
Around flight, comprehensive acquisition detailed information.
It is setting schematic diagram in course line according to an embodiment of the present invention referring to Fig. 4,
Wherein Fig. 4 a is to give directions flight, after unmanned plane takes off, can click target position on the station software map of ground, can also
The longitude and latitude of target position is inputted, control unmanned plane flies to the target point；
Fig. 4 b is trajectory planning, and unmanned plane can add and edit in advance track points, and system is automatic according to the sequence of destination
Generate a track line.Ground station software provides course line template function (specific shapes such as square, circle course line), can advise in advance
Whole course line is pulled, task can be executed according to designed flight line by clicking unmanned plane after executing.
And current trajectory planning supports the prefabricated course line of track to call, in the region that some Daily Round Check routes are fixed, one
The course line can be achieved after the completion of secondary trajectory planning, the later period can be with quick calling when carrying out flight.
Fig. 4 c is Freehandhand-drawing course line, to carry out unmanned plane on some specific regions, such as a sinuate road and patrol
Inspection, the then mode that Freehandhand-drawing course line can be used carry out route design, thus can effectively simplify flight course planning step.It completes
After planning, which can be saved, the later period if desired same track flight when can quick calling.
Fig. 4 d is course line template, for the flight range of some regular shape (round, rectangular etc.) course lines requirements, nobody
Machine can carry out flight course planning by the way of the template of course line.The course line that the functional planning comes out is regular, can be used for region and patrols
The scenes such as inspection and aerial mapping.
It should be appreciated that the embodiment of the present invention can be by computer hardware, the combination of hardware and software or by depositing
The computer instruction in non-transitory computer-readable memory is stored up to be effected or carried out.Standard volume can be used in the method
Journey technology-includes that the non-transitory computer-readable storage media configured with computer program is realized in computer program,
In configured in this way storage medium computer is operated in a manner of specific and is predefined --- according in a particular embodiment
The method and attached drawing of description.Each program can with the programming language of level process or object-oriented come realize with department of computer science
System communication.However, if desired, the program can be realized with compilation or machine language.Under any circumstance, which can be volume
The language translated or explained.In addition, the program can be run on the specific integrated circuit of programming for this purpose.
In addition, the operation of process described herein can be performed in any suitable order, unless herein in addition instruction or
Otherwise significantly with contradicted by context.Process described herein (or modification and/or combination thereof) can be held being configured with
It executes, and is can be used as jointly on the one or more processors under the control of one or more computer systems of row instruction
The code (for example, executable instruction, one or more computer program or one or more application) of execution, by hardware or its group
It closes to realize.The computer program includes the multiple instruction that can be performed by one or more processors.
Further, the method can be realized in being operably coupled to suitable any kind of computing platform, wrap
Include but be not limited to PC, mini-computer, main frame, work station, network or distributed computing environment, individual or integrated
Computer platform or communicated with charged particle tool or other imaging devices etc..Each aspect of the present invention can be to deposit
The machine readable code on non-transitory storage medium or equipment is stored up to realize no matter be moveable or be integrated to calculating
Platform, such as hard disk, optical reading and/or write-in storage medium, RAM, ROM, so that it can be read by programmable calculator, when
Storage medium or equipment can be used for configuration and operation computer to execute process described herein when being read by computer.This
Outside, machine readable code, or part thereof can be transmitted by wired or wireless network.When such media include combining microprocessor
Or other data processors realize steps described above instruction or program when, invention as described herein including these and other not
The non-transitory computer-readable storage media of same type.When methods and techniques according to the present invention programming, the present invention
It further include computer itself.
Computer program can be applied to input data to execute function as described herein, to convert input data with life
At storing to the output data of nonvolatile memory.Output information can also be applied to one or more output equipments as shown
Device.In the preferred embodiment of the invention, the data of conversion indicate physics and tangible object, including the object generated on display
Reason and the particular visual of physical objects are described.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all within the spirits and principles of the present invention, any modification for being made,
Equivalent replacement, improvement etc., should be included within the scope of the present invention.Its technical solution within the scope of the present invention
And/or embodiment can have a variety of different modifications and variations.
Claims (10)
1. a kind of heat-net-pipeline unmanned plane cruise system characterized by comprising
Unmanned plane cruising device carries out cruise acquisition image to specified heat-net-pipeline overlay area for building image collecting device
Information；
Backstage Cloud Server receives unmanned plane cruise dress for remotely being controlled and being managed operation to unmanned plane cruising device
Set the collection in worksite information of the specified heat-net-pipeline overlay area sent back to and whether different according to collection in worksite information analysis pipeline
Normal and Exception Type, wherein management operation includes but is not limited to the management of cruise route, cruise time and period of cruising；
Communication module, for establishing the communication connection of unmanned plane cruising device Yu backstage Cloud Server.
2. heat-net-pipeline unmanned plane cruise system according to claim 1, which is characterized in that described image acquisition device is
Visible image capturing head for acquiring target area landform landforms and hydrometeorological information, and collected information back is given
Backstage cloud service is analyzed and processed.
3. heat-net-pipeline unmanned plane cruise system according to claim 1, which is characterized in that the backstage Cloud Server is also
Include:
Image information processing unit, the image information for acquiring unmanned plane cruising device are spliced and are handled, obtained
Panoramic picture with geography information；
Pipeline air map generation unit, for generating complete correctly pipeline air map according to panoramic picture.
4. heat-net-pipeline unmanned plane cruise system according to claim 1, which is characterized in that described image acquisition device is also
Including visible image capturing head and thermal imaging camera:
Thermal imaging camera is used for Target pipe temperature, when the projecting environment temperature certain value of temperature, visible light is called to take the photograph
As the live live-pictures of head shooting corresponding region, wherein certain value be can customize；
Visible image capturing head is used to shoot the live live-pictures in specified region, and passes back to backstage Cloud Server and analyze corresponding area
Domain whether exception and Exception Type.
5. heat-net-pipeline unmanned plane cruise system according to claim 1, which is characterized in that the backstage Cloud Server is also
Including unmanned plane cruising device manual control unit, unmanned plane is manually controlled for user, is flown including real-time control unmanned plane
Action is made, adjusts flight attitude and the in real time shooting angle and movement of adjustment holder, and wherein holder movement includes pitching, rotates
And zoom.
6. heat-net-pipeline unmanned plane cruise system according to claim 1, which is characterized in that the backstage Cloud Server is also
Include:
Course line setting unit, for cruise route, cruise time and the cruise period of unmanned plane cruising device to be arranged, wherein also
Emphasis inspection including key point.
7. a kind of heat-net-pipeline unmanned plane cruise method, which comprises the following steps:
S100, unmanned plane cruising device carry out cruise acquisition image information to specified heat-net-pipeline overlay area；
S200, backstage Cloud Server receive the real-time live information that unmanned plane cruising device is sent back to, and according to live real-time condition
Operation is remotely controlled and is managed to unmanned plane cruising device；
S300, the collection in worksite information of specified heat-net-pipeline overlay area that unmanned plane cruising device is sent back to is received and according to existing
Acquisition information analysis pipeline whether exception and Exception Type.
8. heat-net-pipeline unmanned plane cruise method according to claim 7, which is characterized in that the real-time live packet
Include topography and geomorphology, traffic and hydrometeorological information.
9. heat-net-pipeline unmanned plane cruise method according to claim 7, which is characterized in that the S300 further include:
S301, the image information that unmanned plane cruising device acquires is spliced and is handled, obtain that there is the complete of geography information
Scape image；
S302, complete correctly pipeline air map is generated according to panoramic picture.
10. heat-net-pipeline unmanned plane cruise method according to claim 7, which is characterized in that further include:
S1, the cruise route that unmanned plane cruising device is set, cruise time and cruise period, cruise plan is obtained, wherein also
Emphasis inspection including key point；
S2, unmanned plane cruising device are planned to execute cruise task according to cruise, and mode is returned by wireless communication by corresponding informance
It is transmitted to server.
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