CN114639251A - Multi-unmanned aerial vehicle cooperative intelligent inspection method and system - Google Patents

Multi-unmanned aerial vehicle cooperative intelligent inspection method and system Download PDF

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CN114639251A
CN114639251A CN202210532721.1A CN202210532721A CN114639251A CN 114639251 A CN114639251 A CN 114639251A CN 202210532721 A CN202210532721 A CN 202210532721A CN 114639251 A CN114639251 A CN 114639251A
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CN114639251B (en
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杨翰翔
肜卿
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Shenzhen Lianhe Intelligent Technology Co ltd
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Abstract

According to the intelligent inspection method and system based on cooperation of the multiple unmanned aerial vehicles, through cooperation of the multiple unmanned aerial vehicles, first visual aerial measurement data in a road section inspection process and second visual aerial measurement data in a non-road section inspection process can be obtained, and then comparative analysis is carried out on road section inspection positioning vehicles determined from the first visual aerial measurement data and road section inspection positioning vehicles determined from the second visual aerial measurement data, so that the content difference between the key contents of visual behaviors of the road section inspection positioning vehicles under different visual aerial measurement data can be analyzed more finely, and whether the road section inspection positioning vehicles are positioning vehicles needing attention or not is judged through the content difference quantitative value. Therefore, the abnormal driving behavior of the vehicle can be accurately and timely identified, the technical problems of inaccurate abnormal driving behavior identification and vehicle condition abnormal warning hysteresis in the related technology are solved, and the efficiency of all-section routing inspection of the unmanned aerial vehicle is improved to a certain extent.

Description

Multi-unmanned aerial vehicle cooperative intelligent inspection method and system
Technical Field
The application relates to the technical field of aerial survey and inspection of unmanned aerial vehicles, in particular to an intelligent inspection method and system with multiple unmanned aerial vehicles in cooperation.
Background
With the progress and development of society, the quantity of motor vehicles kept in various places is remarkably increased. Nowadays, more and more motor vehicles are driven on roads, which brings safety hazards such as traffic accidents caused by dangerous driving or incorrect driving while bringing convenience to people working, living and traveling. In order to minimize the occurrence of such traffic accidents, it is necessary to detect the driving of vehicles on the traffic road. However, the related road section inspection technology has the technical problems of low accuracy and high time delay.
Disclosure of Invention
In view of this, the application provides a method and a system for intelligent inspection with cooperation of multiple unmanned aerial vehicles.
The application provides a cooperative intelligent inspection method of multiple unmanned aerial vehicles, which is applied to an intelligent inspection system, and comprises the following steps:
acquiring first visual aerial survey data of a road section aerial survey positioning vehicle currently aerial-surveyed by a first multi-rotor-wing aerial survey unmanned aerial vehicle; the first multi-rotor inspection unmanned aerial vehicle is used for all-road aerial survey in the road section inspection process;
acquiring second visual aerial survey data of the road section patrol inspection positioning vehicle, which is aerial by a second multi-rotor patrol inspection unmanned aerial vehicle, from a non-patrol inspection information base, wherein the second multi-rotor patrol inspection unmanned aerial vehicle is used for all-road aerial survey in the non-road section patrol inspection process;
comparing and analyzing the road section polling positioning vehicle determined from the first visual aerial survey data with the road section polling positioning vehicle determined from the second visual aerial survey data;
and when the comparison and analysis result shows that the content difference quantitative value between the key content of the first visual behavior of the road section routing inspection positioning vehicle in the first visual aerial survey data and the key content of the second visual behavior of the road section routing inspection positioning vehicle in the second visual aerial survey data is greater than a preset quantitative value, reminding the road section routing inspection positioning vehicle of being the positioning vehicle needing to pay attention.
Under a possible design idea, the comparative analysis between the road section inspection positioning vehicle determined from the first visual aerial survey data and the road section inspection positioning vehicle determined from the second visual aerial survey data includes one or more of the following modes:
determining first head posture key content of the road section polling positioning vehicle in the first visual aerial survey data and second head posture key content of the road section polling positioning vehicle in the second visual aerial survey data, wherein the first visual behavior key content comprises the first head posture key content of the road section polling positioning vehicle, and the second visual behavior key content comprises the second head posture key content of the road section polling positioning vehicle; comparing and analyzing the first head posture key content with the second head posture key content; the first vehicle head posture key content and the second vehicle head posture key content comprise vehicle head posture amplitude and a vehicle head adjusting direction;
determining first body posture key content of the road section routing inspection positioning vehicle in the first visual aerial survey data and second body posture key content of the road section routing inspection positioning vehicle in the second visual aerial survey data, wherein the first visual behavior key content comprises the first body posture key content of the road section routing inspection positioning vehicle, and the second visual behavior key content comprises the second body posture key content of the road section routing inspection positioning vehicle; comparing and analyzing the first body posture key content with the second body posture key content; the first body posture key content and the second body posture key content both comprise a body posture amplitude and a body adjusting direction.
Under a possible design idea, determining a first head posture key content of the road section inspection positioning vehicle in the first visual aerial survey data, and determining a second head posture key content of the road section inspection positioning vehicle in the second visual aerial survey data comprises:
determining a comparison result between a space parameter of a region corresponding to a head of the road section routing inspection positioning vehicle in the first visual aerial survey data and an initial parameter of the multidimensional projection space as the head attitude amplitude in the first head attitude key content, and determining a comparison result between a space parameter of a region corresponding to a head of the road section routing inspection positioning vehicle in the second visual aerial survey data and an initial parameter of the multidimensional projection space as the head attitude amplitude in the second head attitude key content;
determining a direction between a feature map corresponding to a first tail and a feature map corresponding to a second tail of the road section routing inspection positioning vehicle in the first visual aerial survey data as the head adjustment direction in the first head posture key content, and determining a direction between the feature map corresponding to the first tail and the feature map corresponding to the second tail of the road section routing inspection positioning vehicle in the second visual aerial survey data as the head adjustment direction in the second head posture key content;
determining a first body posture key content of the road section routing inspection positioning vehicle in the first visual aerial survey data and a second body posture key content of the road section routing inspection positioning vehicle in the second visual aerial survey data comprises:
in a multi-dimensional projection space generated based on the contour of the road section routing inspection positioning vehicle, taking a comparison result between a space parameter of a region corresponding to a vehicle body of the road section routing inspection positioning vehicle in the first visual aerial survey data and an initial parameter of the multi-dimensional projection space as the vehicle body attitude amplitude in the first vehicle body attitude key content, and taking a comparison result between a space parameter of a region corresponding to a vehicle body of the road section routing inspection positioning vehicle in the second visual aerial survey data and the initial parameter of the multi-dimensional projection space as the vehicle body attitude amplitude in the second vehicle body attitude key content;
and taking the direction between the characteristic graph corresponding to the first tail of the road section inspection positioning vehicle and the characteristic graph corresponding to the second tail in the first visual aerial survey data as the direction between the characteristic graph corresponding to the first tail of the road section inspection positioning vehicle and the characteristic graph corresponding to the second tail in the first body attitude key content, and taking the direction between the characteristic graph corresponding to the first tail of the road section inspection positioning vehicle and the characteristic graph corresponding to the second tail in the second body attitude key content as the direction of the vehicle body adjustment.
Under a possible design concept, the comparing and analyzing the first head pose key content and the second head pose key content includes one or more of the following ways:
respectively determining track change degrees of a first map track formed by the attitude amplitude of a left front wheel and the direction of the left front wheel in a first two-dimensional projection space of the road section routing inspection positioning vehicle in first visual aerial survey data, and track change degrees of a second map track formed by the attitude amplitude of the left front wheel and the direction of the left front wheel in the first two-dimensional projection space of the road section routing inspection positioning vehicle in the first visual aerial survey data, and carrying out contrastive analysis on the track change degrees of the first map track and the track change degrees of the second map track;
respectively determining the track change degree of a third map track formed by the attitude amplitude of the right front wheel and the direction of the right front wheel in the first visual aerial survey data of the road section patrol and positioning vehicle in a second two-dimensional projection space, and the track change degree of a fourth map track formed by the attitude amplitude of the right front wheel and the direction of the right front wheel in the second visual aerial survey data of the road section patrol and positioning vehicle in the second two-dimensional projection space, and carrying out contrastive analysis on the track change degree of the third map track and the track change degree of the fourth map track;
the comparing and analyzing the first head pose key content and the second head pose key content comprises one or more of the following ways:
respectively determining the track change degree of a fifth map track formed by the left door attitude amplitude and the left door direction of the road section polling positioning vehicle in a third two-dimensional projection space in the first visual aerial survey data, and taking the track change degree of a sixth map track formed by the left door attitude amplitude and the left door direction of the road section polling positioning vehicle in the second visual aerial survey data in the third two-dimensional projection space; comparing and analyzing the track change degree of the fifth map track and the track change degree of the sixth map track;
respectively determining the track change degree of a seventh map track formed by the right door attitude amplitude and the right door direction of the road section polling positioning vehicle in a fourth two-dimensional projection space in the first visual aerial survey data, and taking the track change degree of an eighth map track formed by the right door attitude amplitude and the right door direction of the road section polling positioning vehicle in the second visual aerial survey data in the fourth two-dimensional projection space; and comparing and analyzing the track change degree of the third map track and the track change degree of the fourth map track.
Under a possible design idea, when a comparison analysis result shows that a quantitative value of a content difference between a first visual behavior key content of the road section routing inspection positioning vehicle in the first visual aerial survey data and a second visual behavior key content of the road section routing inspection positioning vehicle in the second visual aerial survey data is greater than a preset quantitative value, the road section routing inspection positioning vehicle is reminded to be a positioning vehicle needing to pay attention, and the method comprises one or more of the following modes:
when the comparison and analysis result shows that the difference value between the track change degree of the first map track and the track change degree of the second map track is larger than a set quantification value, reminding the road section patrol inspection positioning vehicle of being a positioning vehicle needing to pay attention;
when the comparison and analysis result shows that the difference value between the track change degree of the third map track and the track change degree of the fourth map track is larger than a set quantification value, reminding the road section patrol inspection positioning vehicle of being a positioning vehicle needing to pay attention;
when the comparison and analysis result shows that the difference value between the track change degree of the fifth map track and the track change degree of the sixth map track is larger than a set quantification value, reminding the road section patrol inspection positioning vehicle of being a positioning vehicle needing to pay attention;
and when the comparison and analysis result shows that the difference value between the track change degree of the seventh map track and the track change degree of the eighth map track is larger than a set quantification value, reminding the road section patrol inspection positioning vehicle of being a positioning vehicle needing to pay attention.
Under one possible design consideration, the method further comprises:
determining a first vehicle condition thermodynamic diagram formed by the first map trajectory and the first two-dimensional projection space and a second vehicle condition thermodynamic diagram formed by the second map trajectory and the first two-dimensional projection space;
determining a third vehicle state thermodynamic diagram formed by the third map track and the second two-dimensional projection space and a fourth vehicle state thermodynamic diagram formed by the fourth map track and the second two-dimensional projection space;
determining a fifth vehicle state thermodynamic diagram formed by the fifth map track and the third two-dimensional projection space and a sixth vehicle state thermodynamic diagram formed by the sixth map track and the third two-dimensional projection space;
determining a seventh vehicle state thermodynamic diagram formed by the seventh map trajectory and the fourth two-dimensional projection space and an eighth vehicle state thermodynamic diagram formed by the eighth map trajectory and the fourth two-dimensional projection space;
when the comparative analysis result shows that the content difference quantitative value between the key content of the first visual behavior of the road section routing inspection positioning vehicle in the first visual aerial survey data and the key content of the second visual behavior of the road section routing inspection positioning vehicle in the second visual aerial survey data is greater than a preset quantitative value, reminding the road section routing inspection positioning vehicle of being a positioning vehicle needing attention, and further comprising one or more than one of the following modes:
when the comparison and analysis result shows that the difference value between the first vehicle state thermodynamic diagram and the second vehicle state thermodynamic diagram is larger than a preset quantitative value, reminding the road section inspection positioning vehicle of being a positioning vehicle needing to pay attention;
when the comparison and analysis result shows that the difference value between the third vehicle state thermodynamic diagram and the fourth vehicle state thermodynamic diagram is larger than a preset quantification value, reminding the road section inspection positioning vehicle as a positioning vehicle needing to pay attention;
when the comparison and analysis result shows that the difference value between the fifth vehicle state thermodynamic diagram and the sixth vehicle state thermodynamic diagram is larger than a preset quantification value, reminding the road section inspection positioning vehicle of being a positioning vehicle needing to pay attention;
and when the comparison and analysis result shows that the difference value between the seventh vehicle state thermodynamic diagram and the eighth vehicle state thermodynamic diagram is greater than a preset quantification value, reminding the road section patrol and location vehicle of being a location vehicle needing to pay attention.
Under a possible design idea, after the road section is reminded that the patrol and inspection positioning vehicle is the positioning vehicle needing attention, the method further comprises one or more than one of the following modes:
when the comparison and analysis result shows that the difference value between the track change degree of the first map track and the track change degree of the second map track is larger than a set quantification value, reminding the left front wheel of the road section polling positioning vehicle as a position needing to be concerned;
when the comparison and analysis result shows that the difference value between the track change degree of the third map track and the track change degree of the fourth map track is larger than a set quantification value, reminding the right front wheel of the road section patrol inspection positioning vehicle as a position needing to be concerned;
when the comparison and analysis result shows that the difference value between the track change degree of the fifth map track and the track change degree of the sixth map track is larger than a set quantification value, reminding the left door of the road section inspection positioning vehicle as a position needing to be concerned;
and when the comparison and analysis result shows that the difference value between the track change degree of the seventh map track and the track change degree of the eighth map track is larger than a set quantification value, reminding the right door of the road section patrol inspection positioning vehicle as a position needing to be concerned.
Under a possible design, obtain the many rotors of second from non-patrolling and examining the information base and patrol and examine unmanned aerial vehicle and navigate and survey the visual aerial survey data of second of positioning vehicle is patrolled and examined in the highway section, include:
comparing and analyzing the license plate data of the road section polling positioning vehicle with the license plate data stored in a non-polling information base;
and determining corresponding second visual aerial survey data of the road section inspection positioning vehicle in the non-inspection information base based on the result after the comparison and analysis.
Under one possible design consideration, the method further comprises:
on the premise that the road section polling positioning vehicle is determined to be a positioning vehicle needing attention, first visual aerial survey data of the road section polling positioning vehicle is transferred to a polling verification database;
and removing the first visual aerial survey data and the second visual aerial survey data corresponding to the road section patrol inspection positioning vehicle on the premise of determining that the road section patrol inspection positioning vehicle is not abnormal.
The application also provides an intelligent inspection system, which comprises a processor, a network module and a memory; the processor and the memory communicate through the network module, and the processor reads the computer program from the memory and operates to perform the above-described method.
The present application also provides a computer storage medium having a computer program stored thereon, which when executed implements the above-described method.
Compared with the prior art, the cooperative intelligent inspection method and system for the multiple unmanned aerial vehicles has the following technical effects: through cooperation of the multiple unmanned aerial vehicles, first visual aerial survey data in a road section inspection process and second visual aerial survey data in a non-road section inspection process can be obtained, and then road section inspection positioning vehicles determined from the first visual aerial survey data and road section inspection positioning vehicles determined from the second visual aerial survey data are compared and analyzed, so that content differences among visual behavior key contents of the road section inspection positioning vehicles under different visual aerial survey data can be analyzed more finely, and whether the road section inspection positioning vehicles are positioning vehicles needing attention or not is judged through a content difference quantitative value. Therefore, the abnormal driving behavior of the vehicle can be accurately and timely identified, the technical problems of inaccurate abnormal driving behavior identification and vehicle condition abnormal warning hysteresis in the related technology are solved, and the efficiency of all-section routing inspection of the unmanned aerial vehicle is improved to a certain extent.
In the description that follows, additional features will be set forth, in part, in the description. These features will be in part apparent to those skilled in the art upon examination of the following and the accompanying drawings, or may be learned by production or use. The features of the present application may be realized and attained by practice or use of various aspects of the methodologies, instrumentalities and combinations particularly pointed out in the detailed examples that follow.
Drawings
In order to more clearly explain the technical solutions of the present application, the drawings needed for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also derive other related drawings from these drawings without inventive effort.
Fig. 1 is a block schematic diagram of an intelligent inspection system provided in an embodiment of the present application.
Fig. 2 is a flowchart of an intelligent inspection method with multiple unmanned aerial vehicles in cooperation provided in an embodiment of the present application.
Fig. 3 is a block diagram of an intelligent inspection device with multiple coordinated unmanned aerial vehicles according to an embodiment of the present application.
Detailed Description
In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 shows a block schematic diagram of a smart inspection system 10 according to an embodiment of the present application. The intelligent inspection system 10 in the embodiment of the present application may be a server with data storage, transmission, and processing functions, as shown in fig. 1, the intelligent inspection system 10 includes: the intelligent inspection device comprises a memory 11, a processor 12, a network module 13 and a plurality of unmanned aerial vehicles which cooperate with one another.
The memory 11, the processor 12 and the network module 13 are electrically connected directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 11 stores a multi-drone cooperative intelligent inspection device 20, the multi-drone cooperative intelligent inspection device 20 includes at least one software function module which can be stored in the memory 11 in a form of software or firmware (firmware), and the processor 12 executes various function applications and data processing by running a software program and a module stored in the memory 11, such as the multi-drone cooperative intelligent inspection device 20 in the embodiment of the present application, so as to implement the multi-drone cooperative intelligent inspection method in the embodiment of the present application.
The Memory 11 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 11 is used for storing a program, and the processor 12 executes the program after receiving an execution instruction.
The processor 12 may be an integrated circuit chip having data processing capabilities. The Processor 12 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like. The various methods, steps and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The network module 13 is used for establishing communication connection between the intelligent inspection system 10 and other communication terminal devices through a network, and implementing transceiving operation of network signals and data. The network signal may include a wireless signal or a wired signal.
It is to be understood that the configuration shown in fig. 1 is merely illustrative and that the smart inspection system 10 may include more or fewer components than shown in fig. 1 or may have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
An embodiment of the present application further provides a computer storage medium, where a computer program is stored, and the computer program implements the method when running.
Fig. 2 shows a flowchart of intelligent routing inspection with cooperation of multiple drones provided in the embodiment of the present application. The method steps defined by the flow related to the method are applied to the intelligent inspection system 10, and the method comprises the following steps S21-S24.
S21, acquiring first visual aerial survey data of a road section aerial survey positioning vehicle currently aerial measured by the first multi-rotor-wing aerial survey unmanned aerial vehicle; wherein, first many rotors are patrolled and examined unmanned aerial vehicle and are used for the highway section to patrol and examine the whole road surface aerial survey of in-process.
And S22, acquiring second visual aerial survey data of the road section patrol inspection positioning vehicle, which are aerial-surveyed by the second multi-rotor patrol inspection unmanned aerial vehicle, from the non-patrol inspection information base, wherein the second multi-rotor patrol inspection unmanned aerial vehicle is used for all-road-surface aerial survey in the non-road-section patrol inspection process.
In the embodiment of the present application, the visual aerial survey data may be image data, such as picture data, infrared image data, or other types of visual data, and the aerial survey angle of the visual aerial survey data may be different and may be determined according to actual situations.
Further, the non-routing inspection information base can be understood as a database corresponding to the visual aerial survey data in the non-routing inspection state, such as a relational database MySQL.
In this application embodiment, the many rotors of difference patrol and examine unmanned aerial vehicle navigation can cruise and shoot according to the circuit of setting for separately to ensure the cooperateability of the flight circuit that many rotors patrol and examine unmanned aerial vehicle navigation between as far as, avoid many rotors to patrol and examine the unmanned aerial vehicle navigation and appear the flight circuit conflict between. Unmanned aerial vehicle can also communicate with the transfer station that ground was established to improve and patrol and examine efficiency.
In some embodiments, the obtaining of the second visual aerial survey data of the road section inspection positioning vehicle that the second multi-rotor inspection drone navigates from the non-inspection information base as described in step S22 may include the following: comparing and analyzing the license plate data of the road section polling positioning vehicle with the license plate data stored in a non-polling information base; and determining corresponding second visual aerial survey data of the road section inspection positioning vehicle in the non-inspection information base based on the result after the comparison and analysis.
Therefore, the second visual aerial survey data can be accurately determined by taking the license plate data as reference.
And step S23, comparing and analyzing the road section polling positioning vehicle determined from the first visual aerial survey data with the road section polling positioning vehicle determined from the second visual aerial survey data.
In the embodiment of the application, the road section inspection positioning vehicle can be a motor vehicle, such as a car, a passenger car, a truck and the like, but is not limited thereto. Furthermore, comparison and analysis of the inspection positioning vehicle for the road section can be realized through the local position posture of the vehicle, so that the inspection precision and the reliability of the vehicle are improved.
In some embodiments, the comparing and analyzing step S23 may include at least one of the following embodiments a and B, where the road section patrol locating vehicle determined from the first visual aerial data and the road section patrol locating vehicle determined from the second visual aerial data are determined by the comparing and analyzing step S23.
In embodiment a, a first head posture key content of the road section inspection positioning vehicle in the first visual aerial survey data and a second head posture key content of the road section inspection positioning vehicle in the second visual aerial survey data are determined, wherein the first visual behavior key content includes the first head posture key content of the road section inspection positioning vehicle, and the second visual behavior key content includes the second head posture key content of the road section inspection positioning vehicle; comparing and analyzing the first head posture key content with the second head posture key content; the first vehicle head posture key content and the second vehicle head posture key content both comprise a vehicle head posture amplitude and a vehicle head adjusting direction.
For embodiment a, determining the first head pose key content of the road segment inspection positioning vehicle in the first visual aerial survey data and the second head pose key content of the road segment inspection positioning vehicle in the second visual aerial survey data may include the following steps a1 and a 2.
Step a1, in a multidimensional projection space generated based on the contour of the road section routing inspection positioning vehicle, determining a comparison result between a spatial parameter of a region corresponding to the head of the road section routing inspection positioning vehicle in the first visual aerial survey data and an initial parameter of the multidimensional projection space as the head attitude amplitude in the first head attitude key content, and determining a comparison result between a spatial parameter of a region corresponding to the head of the road section routing inspection positioning vehicle in the second visual aerial survey data and an initial parameter of the multidimensional projection space as the head attitude amplitude in the second head attitude key content.
Step A2, determining the direction between the feature map corresponding to the first tail and the feature map corresponding to the second tail of the road section routing inspection positioning vehicle in the first visual aerial survey data as the head adjusting direction in the first head posture key content, and determining the direction between the feature map corresponding to the first tail and the feature map corresponding to the second tail of the road section routing inspection positioning vehicle in the second visual aerial survey data as the head adjusting direction in the second head posture key content.
It can be understood that through the above steps a1 and a2, the vehicle head pose key content can be accurately determined based on a multidimensional projection space (such as a three-dimensional coordinate system).
For embodiment a, the comparing the first head pose key content and the second head pose key content may be implemented by at least one of the following embodiments A3 and a 4.
Embodiment a3, determine respectively the track change degree of the first map track that the road section patrol inspection positioning vehicle formed in the first two-dimensional projection space with both the left front wheel attitude amplitude and the left front wheel direction in the first visual aerial survey data, and the track change degree of the second map track that the road section patrol inspection positioning vehicle formed in the first two-dimensional projection space with both the left front wheel attitude amplitude and the left front wheel direction in the first visual aerial survey data, compare and analyze the track change degree of the first map track and the track change degree of the second map track.
Embodiment a4, respectively determine that the highway section is patrolled and examined the positioning vehicle and is in the track change degree of the third map track that right front wheel gesture range and right front wheel direction both formed in the second two-dimensional projection space in the first visual aerial survey data, and the highway section is patrolled and examined the positioning vehicle and is in the track change degree of the fourth map track that right front wheel gesture range and right front wheel direction both formed in the second two-dimensional projection space in the second visual aerial survey data, will the track change degree of third map track with the track change degree of fourth map track carry out contrastive analysis.
For example, the atlas trajectory may be a curve and the degree of change in the trajectory may be the curvature of the curve. By the design, accuracy and timeliness of comparison analysis can be ensured by performing atlas processing on the attitude amplitude and the attitude direction.
Further, the comparing the first head pose key content and the second head pose key content as described in embodiment a may be implemented by at least one of the following embodiments a5 and a 6.
Embodiment a5, determining a degree of track change of a fifth map track formed by the left door of the road section polling positioning vehicle in the third two-dimensional projection space according to the left door attitude amplitude and the left door direction in the first visual aerial survey data, and taking a sixth map track formed by the left door of the road section polling positioning vehicle in the third two-dimensional projection space according to the left door attitude amplitude and the left door direction in the second visual aerial survey data; and comparing and analyzing the track change degree of the fifth map track and the track change degree of the sixth map track.
Embodiment a6, determining a degree of track change of a seventh map track formed by the right door attitude magnitude and the right door direction of the road section patrol inspection positioning vehicle in the fourth two-dimensional projection space in the first visual aerial survey data, and taking a degree of track change of an eighth map track formed by the right door attitude magnitude and the right door direction of the road section patrol inspection positioning vehicle in the fourth two-dimensional projection space in the second visual aerial survey data, respectively; and comparing and analyzing the track change degree of the third map track and the track change degree of the fourth map track.
In embodiment B, determining a first body posture key content of the road section patrol inspection positioning vehicle in the first visual aerial survey data and a second body posture key content of the road section patrol inspection positioning vehicle in the second visual aerial survey data, wherein the first visual behavior key content includes the first body posture key content of the road section patrol inspection positioning vehicle, and the second visual behavior key content includes the second body posture key content of the road section patrol inspection positioning vehicle; comparing and analyzing the first body posture key content with the second body posture key content; the first body posture key content and the second body posture key content both comprise a body posture amplitude and a body adjusting direction.
For embodiment B, determining the first body posture key content of the road segment inspection positioning vehicle in the first visual aerial survey data and the second body posture key content of the road segment inspection positioning vehicle in the second visual aerial survey data may include the following steps B1 and B2.
Step B1, in a multi-dimensional projection space generated based on the contour of the road section routing inspection positioning vehicle, taking a comparison result between a space parameter of a region corresponding to the vehicle body of the road section routing inspection positioning vehicle in the first visual aerial survey data and an initial parameter of the multi-dimensional projection space as the vehicle body attitude amplitude in the first vehicle body attitude key content, and taking a comparison result between a space parameter of a region corresponding to the vehicle body of the road section routing inspection positioning vehicle in the second visual aerial survey data and the initial parameter of the multi-dimensional projection space as the vehicle body attitude amplitude in the second vehicle body attitude key content.
Step B2, regarding the direction between the characteristic diagram corresponding to the first tail and the characteristic diagram corresponding to the second tail of the road section routing inspection positioning vehicle in the first visual aerial survey data as the vehicle body adjusting direction in the first vehicle body posture key content, and regarding the direction between the characteristic diagram corresponding to the first tail and the characteristic diagram corresponding to the second tail of the road section routing inspection positioning vehicle in the second visual aerial survey data as the vehicle body adjusting direction in the second vehicle body posture key content.
In the embodiment of the present application, the pose key content may be understood as a pose feature, which may be expressed in the form of a feature map or a vector, for example.
By means of the design, the attitude condition and the adjustment condition of the vehicle head and the vehicle body are analyzed, and the accuracy and the reliability of comparison analysis can be ensured.
And step S24, when the comparison and analysis result shows that the content difference quantitative value between the first visual behavior key content of the road section routing inspection positioning vehicle in the first visual aerial survey data and the second visual behavior key content of the road section routing inspection positioning vehicle in the second visual aerial survey data is larger than a preset quantitative value, reminding the road section routing inspection positioning vehicle as the positioning vehicle needing to pay attention.
In the embodiment of the present application, the visual behavior key content may be a visual behavior feature, and the content difference quantization value may be understood as a feature difference degree. Further, the positioning vehicle needing attention can be understood as a positioning vehicle with abnormal running or running risk, and such a vehicle may have dangerous driving behavior and needs to pay attention or perform corresponding early warning prompt.
In some independently implementable technical solutions, when the comparative analysis result indicates that the quantitative value of the content difference between the first visual behavior key content of the road section inspection positioning vehicle in the first visual aerial survey data and the second visual behavior key content of the road section inspection positioning vehicle in the second visual aerial survey data is greater than the preset quantitative value, the step S24 may remind the road section inspection positioning vehicle as a positioning vehicle that needs to pay attention to, where the case may include at least one of the following four cases.
In the first situation, when the comparison and analysis result shows that the difference value between the track change degree of the first map track and the track change degree of the second map track is larger than a preset quantification value, the road section inspection positioning vehicle is reminded to be a positioning vehicle needing to pay attention.
And in the second situation, when the comparison and analysis result shows that the difference value between the track change degree of the third map track and the track change degree of the fourth map track is larger than a preset quantification value, reminding the road section patrol and location vehicle as a location vehicle needing to pay attention.
And in the third situation, when the comparison and analysis result shows that the difference value between the track change degree of the fifth map track and the track change degree of the sixth map track is larger than a preset quantification value, the road section patrol inspection positioning vehicle is reminded to be a positioning vehicle needing to pay attention.
And in a fourth situation, when the comparative analysis result shows that the difference value between the track change degree of the seventh map track and the track change degree of the eighth map track is larger than a set quantification value, reminding the road section patrol inspection positioning vehicle of being a positioning vehicle needing to pay attention.
On the basis of the above, the method may further include the following technical solutions described in steps S31-S34.
Step S31, determining a first vehicle state thermodynamic diagram formed by the first map track and the first two-dimensional projection space and a second vehicle state thermodynamic diagram formed by the second map track and the first two-dimensional projection space.
Step S32, determining a third vehicle state thermodynamic diagram formed by the third map track and the second two-dimensional projection space and a fourth vehicle state thermodynamic diagram formed by the fourth map track and the second two-dimensional projection space.
Step S33, determining a fifth vehicle state thermodynamic diagram formed by the fifth map track and the third two-dimensional projection space and a sixth vehicle state thermodynamic diagram formed by the sixth map track and the third two-dimensional projection space.
Step S34, determining a seventh vehicle state thermodynamic diagram formed by the seventh map track and the fourth two-dimensional projection space and an eighth vehicle state thermodynamic diagram formed by the eighth map track and the fourth two-dimensional projection space.
For example, the vehicle state thermodynamic diagram may be a region area formed by the map track and the two-dimensional projection space, and is used for reflecting the vehicle state.
On the basis of the steps S31 to S34, when the comparison analysis result indicates that the quantitative value of the content difference between the first visual behavior key content of the road section polling positioning vehicle in the first visual aerial survey data and the second visual behavior key content of the road section polling positioning vehicle in the second visual aerial survey data is greater than the preset quantitative value, the road section polling positioning vehicle is reminded to be the positioning vehicle which needs to pay attention, and the method further includes at least one of the following four cases.
And in the fifth situation, when the comparison and analysis result shows that the difference value between the first vehicle state thermodynamic diagram and the second vehicle state thermodynamic diagram is larger than a set quantitative value, reminding the road section inspection positioning vehicle of being the positioning vehicle needing attention.
And in the sixth situation, when the comparison and analysis result shows that the difference value between the third vehicle state thermodynamic diagram and the fourth vehicle state thermodynamic diagram is larger than a set quantification value, the road section inspection positioning vehicle is reminded to be a positioning vehicle needing to pay attention.
And in the seventh situation, when the comparison and analysis result shows that the difference value between the fifth vehicle state thermodynamic diagram and the sixth vehicle state thermodynamic diagram is larger than a set quantification value, reminding the road section patrol and location vehicle of being a location vehicle needing attention.
And in an eighth situation, when the comparative analysis result shows that the difference value between the seventh vehicle state thermodynamic diagram and the eighth vehicle state thermodynamic diagram is larger than a set quantification value, reminding the road section inspection positioning vehicle of being a positioning vehicle needing to pay attention.
Further, after the step S24 of reminding the road section inspection positioning vehicle to be the positioning vehicle needing attention, at least one of the following steps S251 to S254 is further included.
And step S251, when the comparative analysis result shows that the difference value between the track change degree of the first map track and the track change degree of the second map track is larger than a set quantification value, reminding the left front wheel of the road section inspection positioning vehicle as the position needing to be paid attention.
And step S252, when the comparison and analysis result shows that the difference value between the track change degree of the third map track and the track change degree of the fourth map track is larger than a preset quantification value, reminding the right front wheel of the road section inspection positioning vehicle as the position needing to be paid attention to.
And step S253, when the comparison and analysis result shows that the difference value between the track change degree of the fifth map track and the track change degree of the sixth map track is larger than a preset quantification value, reminding the left door of the road section inspection positioning vehicle as a position needing to be paid attention to.
And step S254, when the comparison and analysis result shows that the difference value between the track change degree of the seventh map track and the track change degree of the eighth map track is larger than a preset quantification value, reminding the right door of the road section inspection positioning vehicle as a position needing to be paid attention to.
By the design, the vehicle is disassembled for analysis, the position of the road section, which is required to be concerned by the inspection positioning vehicle, can be accurately determined, so that the inspection precision of the vehicle is improved, the timeliness of inspection of the vehicle can be ensured due to the parallel realization of the technical scheme, and the delay of inspection of the vehicle is avoided.
On the basis of the above, the method may further include the following contents described in step S261 and step S262.
And S261, on the premise that the road section inspection positioning vehicle is determined to be the positioning vehicle needing attention, transferring the first visual aerial survey data of the road section inspection positioning vehicle to an inspection verification database.
And S262, removing the first visual aerial survey data and the second visual aerial survey data corresponding to the road section patrol inspection positioning vehicle on the premise of determining that the road section patrol inspection positioning vehicle is not abnormal.
Based on the same inventive concept, there is also provided a multi-drone coordinated intelligent inspection device 20 as shown in fig. 3, where the multi-drone coordinated intelligent inspection device 20 includes the following functional modules:
the first acquisition module 21 is used for acquiring first visual aerial survey data of a road section patrol inspection positioning vehicle currently aerial by the first multi-rotor patrol inspection unmanned aerial vehicle; the first multi-rotor inspection unmanned aerial vehicle is used for all-road aerial survey in the road section inspection process;
the second acquisition module 22 is used for acquiring second visual aerial survey data of the road section patrol inspection positioning vehicle, which is aerial by the second multi-rotor patrol inspection unmanned aerial vehicle, from the non-patrol inspection information base, wherein the second multi-rotor patrol inspection unmanned aerial vehicle is used for all-road aerial survey in the non-road section patrol inspection process;
the comparison analysis module 23 is configured to compare and analyze the road section polling positioning vehicle determined from the first visual aerial survey data with the road section polling positioning vehicle determined from the second visual aerial survey data;
and the vehicle attention module 24 is configured to remind the road section polling positioning vehicle of the positioning vehicle that needs attention when the comparison and analysis result shows that a content difference quantitative value between first visual behavior key content of the road section polling positioning vehicle in the first visual aerial survey data and second visual behavior key content of the road section polling positioning vehicle in the second visual aerial survey data is greater than a preset quantitative value.
In summary, based on the above technical scheme, through cooperation of multiple unmanned aerial vehicles, first visual aerial survey data in a road section polling process and second visual aerial survey data in a non-road section polling process can be obtained, and then a comparison analysis is performed on a road section polling positioning vehicle determined from the first visual aerial survey data and a road section polling positioning vehicle determined from the second visual aerial survey data, so that a content difference between key contents of visual behaviors of the road section polling positioning vehicle under different visual aerial survey data can be analyzed more finely, and whether the road section polling positioning vehicle is a positioning vehicle needing attention or not is judged through a content difference quantitative value. Therefore, the abnormal driving behavior of the vehicle can be accurately and timely identified, the technical problems of inaccurate abnormal driving behavior identification and vehicle condition abnormal warning hysteresis in the related technology are solved, and the efficiency of all-section routing inspection of the unmanned aerial vehicle is improved to a certain extent.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, or portions thereof, which substantially or partly constitute the prior art, may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a smart patrol system 10, or a network device) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. 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 apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. The intelligent inspection method based on cooperation of multiple unmanned aerial vehicles is applied to an intelligent inspection system, and comprises the following steps:
acquiring first visual aerial survey data of a road section aerial survey positioning vehicle currently aerial-surveyed by a first multi-rotor-wing aerial survey unmanned aerial vehicle; the first multi-rotor inspection unmanned aerial vehicle is used for all-road aerial survey in the road section inspection process;
acquiring second visual aerial survey data of the road section inspection positioning vehicle, which is aerial survey of a second multi-rotor inspection unmanned aerial vehicle, from a non-inspection information base, wherein the second multi-rotor inspection unmanned aerial vehicle is used for all-road aerial survey in the non-road section inspection process;
comparing and analyzing the road section polling positioning vehicle determined from the first visual aerial survey data with the road section polling positioning vehicle determined from the second visual aerial survey data;
and when the comparison and analysis result shows that the content difference quantitative value between the key content of the first visual behavior of the road section routing inspection positioning vehicle in the first visual aerial survey data and the key content of the second visual behavior of the road section routing inspection positioning vehicle in the second visual aerial survey data is greater than a preset quantitative value, reminding the road section routing inspection positioning vehicle of being the positioning vehicle needing to pay attention.
2. The method of claim 1, comprising:
the comparative analysis is performed on the road section patrol inspection positioning vehicle determined from the first visual aerial measurement data and the road section patrol inspection positioning vehicle determined from the second visual aerial measurement data, and the method comprises one or more of the following modes:
determining first head posture key content of the road section inspection positioning vehicle in the first visual aerial survey data and second head posture key content of the road section inspection positioning vehicle in the second visual aerial survey data, wherein the first visual behavior key content comprises the first head posture key content of the road section inspection positioning vehicle, and the second visual behavior key content comprises the second head posture key content of the road section inspection positioning vehicle; comparing and analyzing the first head posture key content with the second head posture key content; the first vehicle head posture key content and the second vehicle head posture key content comprise vehicle head posture amplitude and a vehicle head adjusting direction;
determining first body posture key content of the road section routing inspection positioning vehicle in the first visual aerial survey data and second body posture key content of the road section routing inspection positioning vehicle in the second visual aerial survey data, wherein the first visual behavior key content comprises the first body posture key content of the road section routing inspection positioning vehicle, and the second visual behavior key content comprises the second body posture key content of the road section routing inspection positioning vehicle; comparing and analyzing the first body posture key content with the second body posture key content; the first body posture key content and the second body posture key content both comprise a body posture amplitude and a body adjusting direction.
3. The method of claim 2,
determining first head attitude key content of the road section routing inspection positioning vehicle in the first visual aerial survey data, and determining second head attitude key content of the road section routing inspection positioning vehicle in the second visual aerial survey data, wherein the first head attitude key content comprises:
determining a comparison result between a space parameter of a region corresponding to a head of the road section routing inspection positioning vehicle in the first visual aerial survey data and an initial parameter of the multidimensional projection space as the head attitude amplitude in the first head attitude key content, and determining a comparison result between a space parameter of a region corresponding to a head of the road section routing inspection positioning vehicle in the second visual aerial survey data and an initial parameter of the multidimensional projection space as the head attitude amplitude in the second head attitude key content;
determining the direction between a feature map corresponding to a first tail and a feature map corresponding to a second tail of the road section routing inspection positioning vehicle in the first visual aerial survey data as the head adjusting direction in the first head posture key content, and determining the direction between the feature map corresponding to the first tail and the feature map corresponding to the second tail of the road section routing inspection positioning vehicle in the second visual aerial survey data as the head adjusting direction in the second head posture key content;
determining a first body posture key content of the road section routing inspection positioning vehicle in the first visual aerial survey data and a second body posture key content of the road section routing inspection positioning vehicle in the second visual aerial survey data comprises:
in a multi-dimensional projection space generated based on the contour of the road section routing inspection positioning vehicle, taking a comparison result between a space parameter of a region corresponding to a vehicle body of the road section routing inspection positioning vehicle in the first visual aerial survey data and an initial parameter of the multi-dimensional projection space as the vehicle body attitude amplitude in the first vehicle body attitude key content, and taking a comparison result between a space parameter of a region corresponding to a vehicle body of the road section routing inspection positioning vehicle in the second visual aerial survey data and the initial parameter of the multi-dimensional projection space as the vehicle body attitude amplitude in the second vehicle body attitude key content;
and taking the direction between the characteristic graph corresponding to the first tail of the road section inspection positioning vehicle and the characteristic graph corresponding to the second tail in the first visual aerial survey data as the vehicle body adjusting direction in the first vehicle body posture key content, and taking the direction between the characteristic graph corresponding to the first tail of the road section inspection positioning vehicle and the characteristic graph corresponding to the second tail in the second visual aerial survey data as the vehicle body adjusting direction in the second vehicle body posture key content.
4. The method of claim 2, wherein the comparing the first head pose key content and the second head pose key content comprises one or more of:
respectively determining track change degrees of a first map track formed by the attitude amplitude of a left front wheel and the direction of the left front wheel in a first two-dimensional projection space of the road section routing inspection positioning vehicle in first visual aerial survey data, and track change degrees of a second map track formed by the attitude amplitude of the left front wheel and the direction of the left front wheel in the first two-dimensional projection space of the road section routing inspection positioning vehicle in the first visual aerial survey data, and carrying out contrastive analysis on the track change degrees of the first map track and the track change degrees of the second map track;
respectively determining the track change degree of a third map track formed by the attitude amplitude of the right front wheel and the direction of the right front wheel in the first visual aerial survey data of the road section patrol and positioning vehicle in a second two-dimensional projection space, and the track change degree of a fourth map track formed by the attitude amplitude of the right front wheel and the direction of the right front wheel in the second visual aerial survey data of the road section patrol and positioning vehicle in the second two-dimensional projection space, and carrying out contrastive analysis on the track change degree of the third map track and the track change degree of the fourth map track;
the comparing and analyzing the first head pose key content and the second head pose key content comprises one or more of the following ways:
respectively determining the track change degree of a fifth map track formed by the left door attitude amplitude and the left door direction of the road section polling positioning vehicle in a third two-dimensional projection space in the first visual aerial survey data, and taking the track change degree of a sixth map track formed by the left door attitude amplitude and the left door direction of the road section polling positioning vehicle in the second visual aerial survey data in the third two-dimensional projection space; comparing and analyzing the track change degree of the fifth map track and the track change degree of the sixth map track;
respectively determining the track change degree of a seventh map track formed by the right door attitude amplitude and the right door direction of the road section polling positioning vehicle in a fourth two-dimensional projection space in the first visual aerial survey data, and taking the track change degree of an eighth map track formed by the right door attitude amplitude and the right door direction of the road section polling positioning vehicle in the second visual aerial survey data in the fourth two-dimensional projection space; and comparing and analyzing the track change degree of the third map track and the track change degree of the fourth map track.
5. The method according to claim 4, wherein when the comparative analysis result shows that the quantitative value of the content difference between the first visual behavior key content of the road section inspection positioning vehicle in the first visual aerial survey data and the second visual behavior key content of the road section inspection positioning vehicle in the second visual aerial survey data is larger than a preset quantitative value, the method for reminding the road section inspection positioning vehicle of the positioning vehicle needing attention comprises one or more of the following modes:
when the comparative analysis result shows that the difference value between the track change degree of the first map track and the track change degree of the second map track is larger than a set quantification value, reminding the road section inspection positioning vehicle of being a positioning vehicle needing to pay attention to;
when the comparison and analysis result shows that the difference value between the track change degree of the third map track and the track change degree of the fourth map track is larger than a set quantification value, reminding the road section patrol inspection positioning vehicle of being a positioning vehicle needing to pay attention;
when the comparison and analysis result shows that the difference value between the track change degree of the fifth map track and the track change degree of the sixth map track is larger than a set quantification value, reminding the road section patrol inspection positioning vehicle of being a positioning vehicle needing to pay attention;
and when the comparison and analysis result shows that the difference value between the track change degree of the seventh map track and the track change degree of the eighth map track is larger than a set quantification value, reminding the road section patrol inspection positioning vehicle of being a positioning vehicle needing to pay attention.
6. The method of claim 4, further comprising:
determining a first vehicle condition thermodynamic diagram formed by the first map trajectory and the first two-dimensional projection space and a second vehicle condition thermodynamic diagram formed by the second map trajectory and the first two-dimensional projection space;
determining a third vehicle condition thermodynamic diagram formed by the third map track and the second two-dimensional projection space and a fourth vehicle condition thermodynamic diagram formed by the fourth map track and the second two-dimensional projection space;
determining a fifth vehicle state thermodynamic diagram formed by the fifth map track and the third two-dimensional projection space and a sixth vehicle state thermodynamic diagram formed by the sixth map track and the third two-dimensional projection space;
determining a seventh vehicle state thermodynamic diagram formed by the seventh map trajectory and the fourth two-dimensional projection space and an eighth vehicle state thermodynamic diagram formed by the eighth map trajectory and the fourth two-dimensional projection space;
when the comparative analysis result shows that the content difference quantitative value between the key content of the first visual behavior of the road section routing inspection positioning vehicle in the first visual aerial survey data and the key content of the second visual behavior of the road section routing inspection positioning vehicle in the second visual aerial survey data is greater than a preset quantitative value, reminding the road section routing inspection positioning vehicle of being a positioning vehicle needing attention, and further comprising one or more than one of the following modes:
when the comparison and analysis result shows that the difference value between the first vehicle state thermodynamic diagram and the second vehicle state thermodynamic diagram is larger than a preset quantitative value, reminding the road section inspection positioning vehicle of being a positioning vehicle needing to pay attention;
when the comparison and analysis result shows that the difference value between the third vehicle state thermodynamic diagram and the fourth vehicle state thermodynamic diagram is larger than a preset quantification value, reminding the road section inspection positioning vehicle as a positioning vehicle needing to pay attention;
when the comparison and analysis result shows that the difference value between the fifth vehicle state thermodynamic diagram and the sixth vehicle state thermodynamic diagram is larger than a preset quantification value, reminding the road section inspection positioning vehicle of being a positioning vehicle needing to pay attention;
and when the comparison and analysis result shows that the difference value between the seventh vehicle state thermodynamic diagram and the eighth vehicle state thermodynamic diagram is greater than a preset quantification value, reminding the road section patrol and location vehicle of being a location vehicle needing to pay attention.
7. The method according to any one of claims 4 to 5, characterized in that after the reminding of the road section inspection positioning vehicle as the positioning vehicle needing attention, the method further comprises one or more of the following modes:
when the comparison and analysis result shows that the difference value between the track change degree of the first map track and the track change degree of the second map track is larger than a set quantification value, reminding the left front wheel of the road section polling positioning vehicle as a position needing to be concerned;
when the comparison and analysis result shows that the difference value between the track change degree of the third map track and the track change degree of the fourth map track is larger than a set quantification value, reminding the right front wheel of the road section patrol inspection positioning vehicle as a position needing to be concerned;
when the comparison and analysis result shows that the difference value between the track change degree of the fifth map track and the track change degree of the sixth map track is larger than a set quantification value, reminding the left door of the road section inspection positioning vehicle as a position needing to be concerned;
and when the comparison and analysis result shows that the difference value between the track change degree of the seventh map track and the track change degree of the eighth map track is larger than a set quantification value, reminding the right door of the road section patrol inspection positioning vehicle as a position needing to be concerned.
8. The method according to claim 1, wherein the obtaining second visual aerial survey data of the road segment inspection positioning vehicle that the second multi-rotor inspection drone was aerial survey from the non-inspection information base comprises:
comparing and analyzing the license plate data of the road section polling positioning vehicle with the license plate data stored in a non-polling information base;
and determining corresponding second visual aerial survey data of the road section inspection positioning vehicle in the non-inspection information base based on the result after the comparison and analysis.
9. The method of claim 1, further comprising:
on the premise that the road section polling positioning vehicle is determined to be a positioning vehicle needing attention, first visual aerial survey data of the road section polling positioning vehicle is transferred to a polling verification database;
and removing the first visual aerial survey data and the second visual aerial survey data corresponding to the road section patrol inspection positioning vehicle on the premise of determining that the road section patrol inspection positioning vehicle is not abnormal.
10. An intelligent inspection system is characterized by comprising a processor, a network module and a memory; the processor and the memory communicate through the network module, the processor reading a computer program from the memory and operating to perform the method of any of claims 1-9.
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