CN113204247A - Unmanned aerial vehicle system of patrolling and examining - Google Patents
Unmanned aerial vehicle system of patrolling and examining Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle inspection system, which comprises: an unmanned aerial vehicle operation management platform, and at least one unmanned aerial vehicle in communication with the unmanned aerial vehicle operation management platform; when an unmanned aerial vehicle receives a routing inspection instruction sent by an unmanned aerial vehicle operation management platform, routing inspection target information contained in the instruction is read; then, routing inspection path planning is carried out according to the current battery power and the routing inspection target information to obtain an initial routing inspection path; adjusting the initial routing inspection path according to the current meteorological information to obtain an adjusted target routing inspection path; and finally, flying to the target inspection position according to the target inspection path, acquiring an inspection scene model corresponding to the target inspection position, and inspecting the inspection object according to the inspection scene model.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle inspection system.
Background
Along with the rapid development of the unmanned aerial vehicle technology, the application field of unmanned aerial vehicle routing inspection is more and more extensive. Unmanned aerial vehicle patrols and develops to present, still is in "people patrols and is given first place to, and the machine patrols and is given first place to" the stage of assisting ", and the reason still unmanned aerial vehicle patrols and examines still to be in at present and manually control to give first place to, patrols and examines the workman and need experience certain training before actually going on duty just can begin to use. Along with the gradual improvement of the requirement of patrolling and examining, simplify and patrol and examine the process, improve and patrol and examine efficiency and become unmanned aerial vehicle and patrol and examine the important subject of field development, automatic, intelligent undoubtedly will be the important direction of unmanned aerial vehicle development.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an unmanned aerial vehicle inspection system, and aims to solve the technical problems that the existing unmanned aerial vehicle inspection technology depends on manual operation too much, and the inspection efficiency is low.
In order to achieve the above object, the present invention provides an unmanned aerial vehicle inspection system, including: an unmanned aerial vehicle operation management platform, and at least one unmanned aerial vehicle in communication with the unmanned aerial vehicle operation management platform;
the unmanned aerial vehicle is used for reading the inspection target information contained in the inspection instruction when the inspection instruction sent by the unmanned aerial vehicle operation management platform is received;
the unmanned aerial vehicle is also used for acquiring the current battery power, and planning a routing inspection path according to the current battery power and the routing inspection target information to acquire an initial routing inspection path;
the unmanned aerial vehicle is also used for adjusting the initial routing inspection path according to the current meteorological information so as to obtain an adjusted target routing inspection path;
the unmanned aerial vehicle is further used for flying to a target inspection position according to the target inspection path, acquiring an inspection scene model corresponding to the target inspection position, and inspecting an inspection object according to the inspection scene model.
Preferably, the unmanned aerial vehicle is further configured to obtain a current battery power level, and read quantity information of the inspection objects and position information of each inspection object from the inspection target information;
and the unmanned aerial vehicle is also used for planning an inspection path according to the quantity information, the position information and the current battery power to obtain an initial inspection path.
Preferably, the unmanned aerial vehicle is further configured to search a corresponding number of target polling-capable objects in a first mapping table according to the current battery power, and the first mapping table stores a corresponding relationship between the battery power and the number of polling-capable objects;
and the unmanned aerial vehicle is further used for planning the routing inspection path according to the position information and the current battery power to obtain an initial routing inspection path when the number of the target routing inspection objects is matched with the number information.
Preferably, the unmanned aerial vehicle is further configured to acquire current weather information and read wind direction information from the current weather information;
the unmanned aerial vehicle is further used for carrying out wind direction identification on the initial routing inspection path according to the wind direction information to obtain an upwind flight section and a downwind flight section;
and the unmanned aerial vehicle is also used for adjusting the initial routing inspection path according to the upwind flight section and the downwind flight section so as to obtain an adjusted target routing inspection path.
Preferably, the unmanned aerial vehicle is further configured to determine a reference downwind direction according to the wind direction information;
the unmanned aerial vehicle is also used for acquiring a course angle between each flight section in the initial routing inspection path and the reference downwind direction;
and the unmanned aerial vehicle also identifies an upwind flight section and a downwind flight section from the initial routing inspection path according to the course angle.
Preferably, the unmanned aerial vehicle is further configured to obtain an upwind flight kilometer number corresponding to the upwind flight section and a downwind flight kilometer number corresponding to the downwind flight section;
the unmanned aerial vehicle is also used for reading the current wind power level from the current meteorological information and acquiring an upwind flight electric quantity consumption parameter and a downwind flight electric quantity consumption parameter according to the current wind power level;
the unmanned aerial vehicle is further used for determining a first electric quantity consumption according to the upwind flight kilometer number and the upwind flight electric quantity consumption parameter;
the unmanned aerial vehicle is further used for determining second electric quantity consumption according to the downwind flying kilometers and the downwind flying electric quantity consumption parameter;
and the unmanned aerial vehicle is further used for adjusting the initial routing inspection path according to the first electric quantity consumption, the second electric quantity consumption and the current battery electric quantity so as to obtain an adjusted target routing inspection path.
Preferably, the unmanned aerial vehicle is further configured to look up a corresponding upwind flight power consumption parameter and a corresponding downwind flight power consumption parameter in a second mapping relation table according to the current wind power level;
and the second mapping relation table stores the corresponding relation between the wind power grade and the upwind flight electric quantity consumption parameter and the downwind flight electric quantity consumption parameter.
Preferably, the unmanned aerial vehicle is further configured to send the target routing inspection path to the unmanned aerial vehicle operation management platform for routing inspection path confirmation;
and the unmanned aerial vehicle is also used for flying to a target inspection position according to the target inspection path when receiving the path confirmation instruction returned by the unmanned aerial vehicle operation management platform.
Preferably, the unmanned aerial vehicle is further configured to determine an inspection object according to the target inspection position and obtain an object type of the inspection object;
the unmanned aerial vehicle is also used for searching a corresponding inspection scene model in a database according to the object type and inspecting the inspection object according to the inspection scene model.
Preferably, the unmanned aerial vehicle operation management platform is further configured to obtain an inspection image of an inspection object, and perform feature labeling on the inspection image according to a user operation instruction to obtain a labeled inspection image;
the unmanned aerial vehicle operation management platform is further used for training the initial model according to the marked inspection image to obtain an inspection scene model, associating the inspection scene model with the object type corresponding to the inspection object, and storing the inspection scene model and the object type in a database.
When the unmanned aerial vehicle in the unmanned aerial vehicle inspection system provided by the invention receives an inspection instruction sent by an unmanned aerial vehicle operation management platform, the inspection target information contained in the instruction is read; then, routing inspection path planning is carried out according to the current battery power and the routing inspection target information to obtain an initial routing inspection path; adjusting the initial routing inspection path according to the current meteorological information to obtain an adjusted target routing inspection path; the unmanned aerial vehicle inspection system can realize automatic inspection to a great extent, improve inspection efficiency and save manpower and material resources compared with the conventional mode that the unmanned aerial vehicle inspection technology depends on manual operation; meanwhile, meteorological factors in the routing inspection process are fully considered, the routing inspection path is optimized and adjusted according to the meteorological factors, and the reliability of routing inspection can be guaranteed.
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Fig. 1 is a block diagram of a first embodiment of the unmanned aerial vehicle inspection system according to the present invention;
fig. 2 is a schematic diagram of wind direction identification in a second embodiment of the unmanned aerial vehicle inspection system.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a block diagram of a first embodiment of the unmanned aerial vehicle inspection system according to the present invention.
As shown in fig. 1, the unmanned aerial vehicle inspection system may include: an unmanned aerial vehicle operations management platform 101, and at least one unmanned aerial vehicle 102 in communication with the unmanned aerial vehicle operations management platform;
it should be noted that the unmanned aerial vehicle operation management platform 101 may be an electronic information platform (hereinafter, referred to as a platform for short) for performing flight behavior operation, route planning, and data coordination management on an unmanned aerial vehicle. This platform can with unmanned aerial vehicle at certain distance within range radio communication, realize the effective management and control to unmanned aerial vehicle.
The unmanned aerial vehicle 102 is used for reading the inspection target information contained in the inspection instruction when receiving the inspection instruction sent by the unmanned aerial vehicle operation management platform;
it should be noted that the inspection instruction may be manually triggered by a user on the human-computer interaction interface corresponding to the unmanned aerial vehicle operation management platform 101, or may be automatically triggered by an inspection timing task script set in the platform, which is not limited in this embodiment. The inspection target information may include an inspection object, and information such as a position (e.g., longitude and latitude, height, orientation, etc.) and a number (i.e., the number of the inspection objects) of the inspection object, and the inspection target information is used to provide a reference or basis for an inspection decision of the unmanned aerial vehicle in this embodiment.
The unmanned aerial vehicle 102 is further configured to obtain a current battery power, perform routing inspection path planning according to the current battery power and the routing inspection target information, and obtain an initial routing inspection path;
it should be understood that the current battery level is the remaining available power level of the power supply installed in the drone. Unmanned aerial vehicle high altitude construction still can relate to the collection of image data and data signal's transmission usually, and these operations are not low to the consumption of battery power, consequently patrols and examines the task in order to guarantee that unmanned aerial vehicle patrols and examines at every turn and can both accomplish, and unmanned aerial vehicle is patrolling and examining the task before carrying out in this embodiment, will be preferred patrols and examines the route planning according to current battery power and target information of patrolling and examining, obtains the initial route of patrolling and examining.
It can be understood that the routing inspection path planning may be a flight path preliminarily planned according to the starting position and the ending position of the unmanned aerial vehicle, and the position and the height of the routing inspection object.
The unmanned aerial vehicle 102 is further configured to adjust the initial routing inspection path according to the current weather information to obtain an adjusted target routing inspection path;
it should be noted that the current weather information may include information representing weather environments such as a wind direction, a wind power level, illumination, weather information, a rainfall amount, a snowfall amount, and the like in an area where the inspection object is located.
It should be understood that, because the unmanned aerial vehicle is operating aloft, the meteorological information of the operating area, especially the wind direction and the wind power level factor, greatly interfere with the inspection of the unmanned aerial vehicle, and therefore, after the unmanned aerial vehicle plans the initial inspection path in this embodiment, the initial inspection path is further optimized and adjusted according to the current meteorological information (for example, the wind direction and the wind power level), so as to obtain the target inspection path.
Of course, in this embodiment, the adjustment of the initial routing inspection path by the unmanned aerial vehicle can further consider the signal interference or the communication signal quality in the area where the unmanned aerial vehicle is located, so that the initial routing inspection path can be optimally adjusted in all directions and at multiple angles.
The unmanned aerial vehicle 102 is further configured to fly to a target inspection position according to the target inspection path, obtain an inspection scene model corresponding to the target inspection position, and inspect an inspection object according to the inspection scene model.
It should be noted that the inspection scene model may be obtained by training an initial model according to position information, type information, object characteristics and monitoring requirements corresponding to different inspection objects in advance, and is used for controlling the model of the unmanned aerial vehicle for performing inspection operation. In this embodiment, the initial model may be an untrained PID model or a control model constructed based on a PID algorithm.
In order to realize quick and efficient routing inspection of the routing inspection objects, the routing inspection position of each routing inspection object can be associated with the corresponding routing inspection scene model, and then the associated result is stored in the database corresponding to the unmanned aerial vehicle.
In concrete realization, the unmanned aerial vehicle can fly to the target inspection position according to the target inspection path, then realize the quick determination of the inspection scene model according to the above-mentioned correlation result, and then inspect the inspection object according to the inspection scene model.
Further, in order to improve the accuracy of the initial routing inspection path planning, in this embodiment, the unmanned aerial vehicle 102 is further configured to obtain the current battery power, and read the quantity information of the routing inspection objects and the position information of each routing inspection object from the routing inspection target information;
it will be appreciated that, in general, the number and location of the routing objects determines the total mileage of the routing path. When only one routing inspection object exists, the initial routing inspection path (considering return flight) is basically equal to 2 times of the straight line distance between the starting point position of the unmanned aerial vehicle and the position of the routing inspection object. However, when there are two or more inspection objects, the planning of the inspection path becomes complicated, and the difference of the inspection paths affects the inspection efficiency and determines the consumption difference of the battery power.
Therefore, in this embodiment, the unmanned aerial vehicle 102 is further configured to perform routing inspection path planning according to the quantity information, the location information, and the current battery power, so as to obtain an initial routing inspection path.
In the specific implementation, the unmanned aerial vehicle can firstly carry out preliminary planning on the routing inspection paths according to the quantity information and the position information of the routing inspection objects to obtain a plurality of candidate routing inspection paths, then calculate the theoretical electric quantity demand values corresponding to the candidate routing inspection paths, sort the theoretical electric quantity demand values according to the descending order, and then select an initial routing inspection path according to the current battery electric quantity and the sorting result. Of course, if all the theoretical electric quantity demand values are found to be greater than the current battery electric quantity after sequencing, a charging reminding message needs to be generated and sent to the unmanned aerial vehicle operation management platform 101 to prompt a worker to charge the unmanned aerial vehicle, or other unmanned aerial vehicles with sufficient electric quantity are replaced according to the sequencing result to execute the current routing inspection task.
As another determination method of the initial routing inspection path, in this embodiment, the unmanned aerial vehicle 102 is further configured to search, according to the current battery power, a corresponding target routing inspection object number in a first mapping relationship table, where a corresponding relationship between the battery power and the routing inspection object number is stored in the first mapping relationship table;
it should be noted that, in order to improve the efficiency of determining the initial routing inspection path, in this embodiment, a relationship curve between "the battery power and the number of the routing inspection objects" may be fitted in advance according to the correspondence between the number of the routing inspection objects in the past and the power consumption of the routing inspection objects in the number of the routing inspection objects in each routing inspection, and then the first mapping relationship table may be constructed according to the relationship curve.
The unmanned aerial vehicle 102 is further configured to perform routing inspection path planning according to the position information and the current battery power to obtain an initial routing inspection path when the number of the target routing inspection objects matches the number information.
It should be noted that, the matching between the number of the polling objects and the quantity information may be that the number of the polling objects in the quantity information is less than or equal to the number of the polling objects.
In concrete implementation, when the number of the target patrolling objects is matched with the number information, the unmanned aerial vehicle can plan a patrolling path according to the position information and the current battery power to obtain an initial patrolling path. Specifically, the starting position of the unmanned aerial vehicle and the positions of all inspection objects can be determined firstly, then connecting lines (segments) between the positions are constructed, then the required electric quantity of each connecting line (segment) is calculated respectively, finally, target connecting lines are selected according to the required electric quantity and the current battery electric quantity, and an initial inspection path is constructed according to the target connecting lines.
In the unmanned aerial vehicle inspection system, when an unmanned aerial vehicle receives an inspection instruction sent by an unmanned aerial vehicle operation management platform, inspection target information contained in the instruction is read; then, routing inspection path planning is carried out according to the current battery power and the routing inspection target information to obtain an initial routing inspection path; adjusting the initial routing inspection path according to the current meteorological information to obtain an adjusted target routing inspection path; the unmanned aerial vehicle inspection system can realize automatic inspection to a great extent, improve inspection efficiency and save manpower and material resources compared with the conventional mode that the unmanned aerial vehicle inspection technology depends on manual operation; meanwhile, meteorological factors in the routing inspection process are fully considered, the routing inspection path is optimized and adjusted according to the meteorological factors, and the reliability of routing inspection can be guaranteed.
Based on the first embodiment, the invention provides a second embodiment of the unmanned aerial vehicle inspection system.
In view of the fact that wind direction has a great influence on the electric quantity consumption of the unmanned aerial vehicle, in order to ensure that the inspection task is completed smoothly, in this embodiment, the unmanned aerial vehicle 102 is further configured to obtain current weather information and read wind direction information from the current weather information;
it should be understood that the wind direction information may include information on whether the current patrol area is windy, the direction of wind, the wind power level, and the like. The wind direction is crucial to patrolling and examining of unmanned aerial vehicle, and unmanned aerial vehicle is not the same to the consumption of electric quantity with the upwind flight, and when wind-force level was too big in addition, unmanned aerial vehicle also can have the risk of crash.
It should be noted that, after the unmanned aerial vehicle operation management platform 101 locates the inspection area, the current weather information may be obtained in real time from the weather monitoring system or a nearby weather observation station according to the location information of the inspection area.
The unmanned aerial vehicle 102 is further configured to perform wind direction identification on the initial routing inspection path according to the wind direction information to obtain an upwind flight section and a downwind flight section;
it should be understood that after the wind direction and the initial routing inspection path are determined, the unmanned aerial vehicle can identify the wind direction of the routing inspection path according to the wind direction, and then determine an upwind flight section and a downwind flight section according to the identification result.
In the specific wind direction identification process, a reference downwind direction can be determined according to wind direction information, and then an upwind flight section and a downwind flight section can be determined according to the reference downwind direction.
As an implementation manner, in order to realize accurate wind direction identification, in this embodiment, the unmanned aerial vehicle 102 is further configured to determine a reference downwind direction according to the wind direction information; then acquiring a course angle between each flight section in the initial routing inspection path and the reference downwind direction; and identifying an upwind flight section and a downwind flight section from the initial routing inspection path according to the course angle.
In the embodiment, the heading angle between the flight section and the reference downwind direction is defined as 0 to 90 ° and 270 to 360 ° counterclockwise, and the heading angle between 90 ° and 270 ° is defined as upwind flight. The heading angle may be determined in a manner as shown in fig. 2.
As shown in fig. 2, fig. 2 is a schematic view illustrating wind direction recognition in a second embodiment of the unmanned aerial vehicle inspection system according to the present invention. If the reference downwind direction is due south (N is positive north), the inspection object comprises four a, b, c and d, the initial inspection path comprises 1, 2, 3, 4 and 5 flight sections, the course angle between the flight section 1 and the reference downwind direction is alpha, the course angle between the flight section 2 and the reference downwind direction is beta, the course angle between the flight section 3 and the reference downwind direction is gamma, the course angle between the flight section 4 and the reference downwind direction is delta, and the course angle between the flight section 5 and the reference downwind direction is theta. As defined above, heading angles α, β, and θ are between 90 ° and 270 °, heading angle γ is between 0 and 90 °, heading angle δ is between 270 ° and 360 °, then the upwind flight segments are 1, 2, and 5, and the downwind flight segments are 3 and 4.
The unmanned aerial vehicle 102 is further configured to adjust the initial routing inspection path according to the upwind flight section and the downwind flight section, so as to obtain an adjusted target routing inspection path.
It should be understood that, when flying downwind, the smaller the included angle between the flight path of the unmanned aerial vehicle and the reference downwind direction, the more power is saved, and when flying upwind, the different course angles and the additionally required electric quantity of the unmanned aerial vehicle are also different. Therefore, after the unmanned aerial vehicle determines the upwind flight section and the downwind flight section, the initial routing inspection path can be adjusted accordingly, and the adjusted target routing inspection path is obtained. For example, the straight flight path may be adjusted to an arc segment with a certain radian, so as to utilize wind energy to the maximum extent, or reduce the electricity consumption of headwind flight to the maximum extent.
Further, in order to more accurately and actually adjust the initial routing inspection path, in this embodiment, the unmanned aerial vehicle 102 is further configured to obtain an upwind flight kilometer number corresponding to the upwind flight section and a downwind flight kilometer number corresponding to the downwind flight section;
it should be understood that the headwind/tailwind flying kilometers may be obtained by calculation based on the position coordinates between the inspection objects.
The unmanned aerial vehicle 102 is further configured to read a current wind power level from the current weather information, and obtain an upwind flight power consumption parameter and a downwind flight power consumption parameter according to the current wind power level;
it can be appreciated that the wind power level is more likely to affect the battery power consumption than the wind direction that determines whether the drone is in direct or upwind flight. Therefore, in this embodiment, the upwind flight power consumption parameter (i.e., the average power consumption per kilometer in upwind flight) and the downwind flight power consumption parameter (i.e., the average power consumption per kilometer in downwind flight) at different wind power levels can be analyzed in advance according to the historical patrol data. Specifically, a second mapping table storing the corresponding relationship between the wind power level and the upwind flight power consumption parameter and the downwind flight power consumption parameter can be established. The form of the second mapping relation table in this embodiment may be as shown in table 1 below:
| wind power class | Downwind flight electricity consumption parameter | Upwind flight electricity consumption parameter |
| X | Y | Z |
TABLE 1 second mapping relationship Table
In a specific implementation, after the current wind power level X is obtained, the corresponding upwind flight electric quantity consumption parameter Y and the downwind flight electric quantity consumption parameter Z can be quickly and accurately obtained according to the second mapping relation table. Specifically, the unmanned aerial vehicle 102 is further configured to search a corresponding upwind flight electric quantity consumption parameter and a corresponding downwind flight electric quantity consumption parameter in a second mapping relation table according to the current wind power level; and the second mapping relation table stores the corresponding relation between the wind power grade and the upwind flight electric quantity consumption parameter and the downwind flight electric quantity consumption parameter.
The unmanned aerial vehicle 102 is further configured to determine a first electric quantity consumption amount according to the headwind flight kilometer number and the headwind flight electric quantity consumption parameter;
the unmanned aerial vehicle 102 is further configured to determine a second amount of power consumption according to the number of kilometers covered by the downwind flight and the downwind flight power consumption parameter;
it should be understood that after the upwind flight kilometers and the upwind flight electricity consumption parameter are obtained, the electricity consumption required for the upwind flight (i.e., the first electricity consumption) can be determined, and the electricity consumption required for the downwind flight (i.e., the second electricity consumption) can be determined based on the downwind flight kilometers and the downwind flight electricity consumption parameter.
The unmanned aerial vehicle 102 is further configured to adjust the initial routing inspection path according to the first power consumption amount, the second power consumption amount and the current battery power amount, so as to obtain an adjusted target routing inspection path.
In a specific implementation, the unmanned aerial vehicle can accumulate the first electric quantity consumption and the second electric quantity consumption, then compare the accumulated electric quantity with the current battery electric quantity, if the accumulated electric quantity is larger than the current battery electric quantity, it is indicated that the current electric quantity of the unmanned aerial vehicle may not be enough to support the smooth completion of the inspection task, and at the moment, the unmanned aerial vehicle needs to be replaced for inspection; if the current time is less than the preset time, the subsequent inspection operation can be continuously executed.
In this embodiment, for the case that the accumulated electric quantity is greater than the current battery electric quantity, further distinction is made, and then different coping strategies are adopted. For example, can be with adding up electric quantity and current battery power and dividing, then compare the quotient that obtains with preset threshold value (for example 1.1, 1.05 etc.), if be greater than, then judge and need change unmanned aerial vehicle, if be less than, then indicate the mode that can optimize through patrolling and examining the route for unmanned aerial vehicle is patrolling and examining according to the route of patrolling and examining after optimizing when, and the electric quantity consumption is less than current battery power, and need not change unmanned aerial vehicle.
The unmanned aerial vehicle acquires current meteorological information and reads wind direction information from the current meteorological information; then, carrying out wind direction identification on the initial routing inspection path according to the wind direction information to obtain an upwind flight path section and a downwind flight path section; and adjusting the initial routing inspection path according to the upwind flight section and the downwind flight section to obtain an adjusted target routing inspection path. This embodiment is through the acquisition to wind direction information, fully considers the wind direction to unmanned aerial vehicle downwind/adverse wind flight's influence, can guarantee that the route that finally plans conforms to with actual environment, has improved the reliability of patrolling and examining the route.
Based on the first embodiment, the invention provides a third embodiment of the unmanned aerial vehicle inspection system.
In order to ensure the feasibility of the routing inspection task, in this embodiment, the unmanned aerial vehicle 102 is further configured to send the target routing inspection path to the unmanned aerial vehicle operation management platform 101 for routing inspection path confirmation; and then, when a path confirmation instruction returned by the unmanned aerial vehicle operation management platform 101 is received, flying to a target inspection position according to the target inspection path.
It should be understood that, the target patrol and examine the route and carry out theoretical calculation by unmanned aerial vehicle or unmanned aerial vehicle operation management platform and reachs, considers actually patrolling and examining the in-process, has some other unpredictable interference, and in this embodiment, unmanned aerial vehicle still can patrol and examine the route with the target and send to unmanned aerial vehicle operation management platform 101, patrols and examines the route by relevant staff and confirms, guarantees to patrol and examine the smooth execution of task.
Further, considering that different inspection objects have different inspection requirements, for example, for a storage warehouse or a material stack, whether potential safety hazards (such as fire, flood, leakage, and the like) exist needs to be monitored, and whether theft risks exist needs to be monitored; for important inspection objects, continuous 360 ° monitoring may be required for a period of time, while some inspection objects only need to take a live image. Therefore, different types of different inspection objects can be divided in advance, and then inspection scene models are respectively built for the different types of objects.
Correspondingly, the unmanned aerial vehicle 102 is further configured to determine an inspection object according to the target inspection position, and obtain an object type of the inspection object; and then searching a corresponding inspection scene model in a database according to the object type, and inspecting the inspection object according to the inspection scene model.
The object type can be determined according to inspection requirements, such as an important inspection object, a secondary inspection object, a general inspection object, a common inspection object and the like; the determination may also be performed according to a polling manner, such as dynamic polling (capturing dynamic video), static polling (capturing static image), omni-directional polling, fixed-orientation polling, and the like, and the determination manner of the object type is not particularly limited in this embodiment.
Further, in order to implement the inspection mode based on the inspection scene model, the unmanned aerial vehicle operation management platform 101 in this embodiment is further configured to obtain an inspection image of an inspection object, and perform feature labeling on the inspection image according to a user operation instruction to obtain a labeled inspection image; and then training the initial model according to the marked inspection image to obtain an inspection scene model, associating the inspection scene model with the object type corresponding to the inspection object, and storing the inspection scene model and the object type in a database.
In concrete realization, the staff can shoot a plurality of images of the inspection objects through the unmanned aerial vehicle at the beginning of inspection, then carry out manual marking on the images to mark out the image characteristic elements needing to be monitored and the inspection modes or rules when the image characteristic elements are inspected, and finally train the initial model through the inspection images marked to obtain the inspection scene model.
This embodiment is through establishing the scene model of patrolling and examining for unmanned aerial vehicle patrols and examines according to the scene model of patrolling and examining after reaching the position of patrolling and examining, makes the process of patrolling and examining of the different objects of patrolling and examining have more the pertinence, has improved the reliability and the validity that unmanned aerial vehicle patrolled and examined.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle system of patrolling and examining, its characterized in that, unmanned aerial vehicle system of patrolling and examining includes: an unmanned aerial vehicle operation management platform, and at least one unmanned aerial vehicle in communication with the unmanned aerial vehicle operation management platform;
the unmanned aerial vehicle is used for reading the inspection target information contained in the inspection instruction when the inspection instruction sent by the unmanned aerial vehicle operation management platform is received;
the unmanned aerial vehicle is also used for acquiring the current battery power, and planning a routing inspection path according to the current battery power and the routing inspection target information to acquire an initial routing inspection path;
the unmanned aerial vehicle is also used for adjusting the initial routing inspection path according to the current meteorological information so as to obtain an adjusted target routing inspection path;
the unmanned aerial vehicle is further used for flying to a target inspection position according to the target inspection path, acquiring an inspection scene model corresponding to the target inspection position, and inspecting an inspection object according to the inspection scene model.
2. The unmanned aerial vehicle inspection system according to claim 1, wherein the unmanned aerial vehicle is further configured to obtain a current battery level and read information on the number of inspection objects and location information of each inspection object from the inspection target information;
and the unmanned aerial vehicle is also used for planning an inspection path according to the quantity information, the position information and the current battery power to obtain an initial inspection path.
3. The unmanned aerial vehicle inspection system according to claim 2, wherein the unmanned aerial vehicle is further configured to look up a corresponding number of target inspectable objects in a first mapping table according to the current battery power, the first mapping table storing a correspondence between the battery power and the number of inspectable objects;
and the unmanned aerial vehicle is further used for planning the routing inspection path according to the position information and the current battery power to obtain an initial routing inspection path when the number of the target routing inspection objects is matched with the number information.
4. The unmanned aerial vehicle inspection system according to claim 1, wherein the unmanned aerial vehicle is further configured to obtain current weather information and read wind direction information from the current weather information;
the unmanned aerial vehicle is further used for carrying out wind direction identification on the initial routing inspection path according to the wind direction information to obtain an upwind flight section and a downwind flight section;
and the unmanned aerial vehicle is also used for adjusting the initial routing inspection path according to the upwind flight section and the downwind flight section so as to obtain an adjusted target routing inspection path.
5. The unmanned aerial vehicle inspection system according to claim 4, wherein the unmanned aerial vehicle is further configured to determine a reference downwind direction based on the wind direction information;
the unmanned aerial vehicle is also used for acquiring a course angle between each flight section in the initial routing inspection path and the reference downwind direction;
and the unmanned aerial vehicle also identifies an upwind flight section and a downwind flight section from the initial routing inspection path according to the course angle.
6. The unmanned aerial vehicle inspection system according to claim 4, wherein the unmanned aerial vehicle is further configured to obtain an upwind flight kilometer count corresponding to the upwind flight segment and a downwind flight kilometer count corresponding to the downwind flight segment;
the unmanned aerial vehicle is also used for reading the current wind power level from the current meteorological information and acquiring an upwind flight electric quantity consumption parameter and a downwind flight electric quantity consumption parameter according to the current wind power level;
the unmanned aerial vehicle is further used for determining a first electric quantity consumption according to the upwind flight kilometer number and the upwind flight electric quantity consumption parameter;
the unmanned aerial vehicle is further used for determining second electric quantity consumption according to the downwind flying kilometers and the downwind flying electric quantity consumption parameter;
and the unmanned aerial vehicle is further used for adjusting the initial routing inspection path according to the first electric quantity consumption, the second electric quantity consumption and the current battery electric quantity so as to obtain an adjusted target routing inspection path.
7. The unmanned aerial vehicle inspection system according to claim 6, wherein the unmanned aerial vehicle is further configured to look up corresponding upwind flight power consumption parameters and downwind flight power consumption parameters in a second mapping table according to the current wind power level;
and the second mapping relation table stores the corresponding relation between the wind power grade and the upwind flight electric quantity consumption parameter and the downwind flight electric quantity consumption parameter.
8. An unmanned aerial vehicle inspection system according to any one of claims 1 to 7, wherein the unmanned aerial vehicle is further configured to send the target inspection path to the unmanned aerial vehicle operations management platform for inspection path validation;
and the unmanned aerial vehicle is also used for flying to a target inspection position according to the target inspection path when receiving the path confirmation instruction returned by the unmanned aerial vehicle operation management platform.
9. The unmanned aerial vehicle inspection system according to claim 8, wherein the unmanned aerial vehicle is further configured to determine an inspection object based on the target inspection location and obtain an object type of the inspection object;
the unmanned aerial vehicle is also used for searching a corresponding inspection scene model in a database according to the object type and inspecting the inspection object according to the inspection scene model.
10. The unmanned aerial vehicle inspection system according to any one of claims 1 to 7, wherein the unmanned aerial vehicle operation management platform is further configured to obtain an inspection image of an inspection object, and perform feature labeling on the inspection image according to a user operation instruction to obtain a labeled inspection image;
the unmanned aerial vehicle operation management platform is further used for training the initial model according to the marked inspection image to obtain an inspection scene model, associating the inspection scene model with the object type corresponding to the inspection object, and storing the inspection scene model and the object type in a database.
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