UAV command and dispatch system, UAV joint inspection method and device

Abstract

The present invention provides a drone command and dispatch system, a drone joint inspection method, and a device, comprising: a monitoring module, a situation overview module, a command and dispatch module, a joint flight execution module, a task module, and an operation analysis module; the monitoring module is used to monitor the drone's external nest image and drone image; the situation overview module is used to browse the base station list, drone list, inspection statistics list, inspection record list, and operation analysis list to query corresponding information; the command and dispatch module is used to switch base stations and obtain real-time information corresponding to the base stations, and command and control the drone based on the real-time information and a predetermined command strategy; the joint flight execution module is used to perform joint inspections on multiple base stations via a joint inspection route; the task module is used to display the inspection record list and inspection plan list; and the operation analysis module is used to display the task list and achievement list. This method realizes the display and route planning of multi-base station drone joint inspections.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a UAV command and dispatch system, and a UAV joint inspection method and device. Background Art

[0002] The command and dispatch of drones is crucial in the drone inspection process. The command and dispatch system of related technologies usually only displays the corresponding monitoring images of drones and the implementation status of inspection tasks. There is no specific design and embodiment for multi-base station drone joint inspections, and the display of monitoring images and information on the completion status of inspection tasks is not very comprehensive. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a drone command and dispatch system, a drone joint inspection method and device, which realizes the display and route planning of multi-base station drone joint inspection, facilitates remote control of drones, and improves the comprehensiveness of information display.

[0004] In the first aspect, an embodiment of the present invention provides a UAV command and dispatch system, which includes: a monitoring module, a situation overview module, a command and dispatch module, a joint flight execution module, a task module and an operation analysis module; the monitoring module is used to monitor the drone's external nest image and the drone image; the situation overview module is used to browse the base station list, drone list, inspection statistics list, inspection record list and operation analysis list to query corresponding information; the command and dispatch module is used to switch base stations and obtain real-time information corresponding to the base station, and command and control the UAV based on the real-time information and a predetermined command strategy; the joint flight execution module is used to select multiple base stations, and formulate a joint patrol plan based on pre-set inspection tasks, the inspection power corresponding to the inspection tasks, and the respective working ranges of multiple base stations. Inspection route; multiple base stations conduct joint inspections through the joint inspection route; among them, the inspection points of interest in the inspection task are imaged through the joint inspection route, and the gimbal camera of the drone is relative to the inspection points of interest during image acquisition; the task module is used to display the inspection record list and the inspection plan list; the inspection tasks are recorded and generated based on the inspection record list and the inspection plan list; the operation analysis module is used to display the task list and the results list; the task list includes analysis information corresponding to the inspection task; the monitoring module, the situation overview module, the command and dispatch module, the joint flight module, the task module and the operation analysis module are all displayed through the interface, and a map is set in the middle of the interface corresponding to the situation overview module, the command and dispatch module, the task module and the operation analysis module.

[0005] In a preferred embodiment of the present invention, the above-mentioned monitoring module is also used to automatically display the drone image when the base station is in a mission execution state, and to remove the drone image when the base station is not in a mission execution state.

[0006] In a preferred embodiment of the present invention, the above-mentioned base station list includes: the working status of the machine nest, the camera icon and the base station icon, and the monitoring outside the machine nest is opened by clicking the camera icon; the map corresponding to the situation overview module is switched to a perspective centered on the base station by clicking the base station icon; the drone list includes: real-time drone data, and the real-time drone data includes: the drone's online status, model, power, cumulative number of tasks, mileage and duration; the inspection statistics list includes: the total number of inspections, the current number of inspections, the inspection completion rate and the inspection line chart; the inspection record list includes: the task name, time, task progress, number of shooting results and number of alarms generated in the inspection record; the operation analysis list includes: the cumulative shooting results, number of alarms, duration and mileage of all base stations.

[0007] In a preferred embodiment of the present invention, the above-mentioned real-time information includes: base station information, drone details information and machine nest mission information; base station information includes: cabin door status, machine nest status, machine nest battery power, cabin temperature, air conditioning status, data return status and wind speed; drone details information includes: drone's remaining power, altitude, speed, streaming status, camera status, image transmission signal, magnetic compass status, channel interference intensity, nose direction and gimbal pitch angle; machine nest mission information includes: inspection records and inspection plans; the interface corresponding to the command and dispatch module includes: one-key return button, pointing flight button, breakpoint flight button, immediate execution button and flight control button.

[0008] In a preferred embodiment of the present invention, the above-mentioned clicking on the inspection record list displays the GPS map, the GPS map superimposed with the route, shooting results and alarm time of this inspection; clicking on the inspection plan list superimposes the route, and the inspection record list is associated with the inspection record of the inspection task generated by the inspection plan.

[0009] In a preferred embodiment of the present invention, the above-mentioned task list includes: task name, task start and end time, task progress, number of shooting results and number of alarms; after clicking the corresponding task name, the result list is associated with the results corresponding to the task record; the map corresponding to the operation analysis module is superimposed with the route, superimposed with the shooting result icon and the alarm icon; by clicking the shooting result icon or the alarm icon, the picture corresponding to the shooting result icon or the video corresponding to the alarm icon is queried; the result list includes: the shooting result icon or the alarm icon, and the picture corresponding to the shooting result icon or the video corresponding to the alarm icon, and the video corresponding to the video, and the corresponding processing button.

[0010] In a preferred embodiment of the present invention, the joint flight execution module formulates a joint inspection route based on a pre-set inspection task, the inspection power corresponding to the inspection task, and the respective working ranges of multiple base stations, including: determining a target inspection route based on the inspection task; the target inspection route includes inspection waypoints arranged in numbered order and surrounding waypoints corresponding to inspection points of interest; determining a base station for executing the task first and a base station for executing the task later based on the distances between multiple base stations and the starting waypoints of the target inspection route; circle the target inspection route based on the maximum working range corresponding to the base station for executing the task first; circle part of the target inspection route outside the circled range through the working range of the base station for executing the task later; if there are inspection waypoints and / or surrounding waypoints with inconsistent numbering sequence within the circled range of the base station for executing the task first, narrow the circled range corresponding to the base station for executing the task first and expand the circled range corresponding to the base station for executing the task later the range until the numbering sequence of the inspection waypoints and / or circling waypoints is coherent within the circled range of the base station that performs the task first; based on the inspection power, the inspection route power of the first target route composed of the inspection waypoints and / or circling waypoints with coherent numbering sequence is estimated to obtain an estimated result; if the estimated result indicates that the inspection power corresponding to the first target route is less than the full power of the UAV, the first target route composed of the inspection waypoints and / or circling waypoints with coherent numbering sequence is used as the route corresponding to the base station that performs the task first, and the next waypoint of the first target route is used as the transition waypoint; the second target route other than the first target route in the target inspection route is used as the route corresponding to the base station that performs the task later; wherein, the starting waypoint of the base station that performs the task first is the starting waypoint of the target inspection route, and the starting waypoint of the base station that performs the task later is the transition waypoint; the first target route and the second target route constitute a joint inspection route.

[0011] In a preferred embodiment of the present invention, the joint inspection route is displayed in the interface corresponding to the joint flight execution module, and the inspection waypoints and / or circling waypoints that have been flown are color-marked. For the inspection waypoints and / or circling waypoints that have not been flown, the corresponding inspection waypoints and / or circling waypoints are clicked according to the real-time modification strategy to modify the waypoint information.

[0012] In the second aspect, an embodiment of the present invention also provides a method for joint inspection of unmanned aerial vehicles (UAVs), which is applied to the UAV command and dispatch system of the first aspect, including: obtaining a pre-generated inspection task; formulating a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, and the respective working ranges of multiple base stations; performing image acquisition of inspection points of interest in the inspection task through the joint inspection route, and the gimbal camera of the UAV is opposite to the inspection points of interest during image acquisition; the UAVs corresponding to each of the multiple base stations perform joint inspections through the joint inspection route.

[0013] In a third aspect, an embodiment of the present invention further provides a UAV joint inspection device, which is applied to the UAV command and dispatch system of the first aspect, including: an inspection task acquisition module, used to obtain pre-generated inspection tasks; a joint inspection route formulation module, used to formulate joint inspection routes based on inspection tasks, the inspection power corresponding to the inspection tasks, and the respective working ranges of multiple base stations; image acquisition of inspection points of interest in the inspection tasks is performed through the joint inspection route, and the gimbal camera of the UAV is opposite to the inspection points of interest during image acquisition; a joint inspection module, used for the UAVs corresponding to multiple base stations to perform joint inspections through the joint inspection route.

[0014] The embodiments of the present invention bring the following beneficial effects:

[0015] The embodiment of the present invention provides a UAV command and dispatch system, a UAV joint inspection method and device, and the UAV command and dispatch system includes: a monitoring module, a situation overview module, a command and dispatch module, a joint flight execution module, a task module and an operation analysis module; the monitoring module is used to monitor the drone's external nest image and the drone image; the situation overview module is used to browse the base station list, the drone list, the inspection statistics list, the inspection record list and the operation analysis list to query the corresponding information; the command and dispatch module is used to switch the base station and obtain the real-time information corresponding to the base station, and command and control the UAV based on the real-time information and a predetermined command strategy; the joint flight execution module is used to select multiple base stations and perform command and control based on the preset inspection tasks, the inspection power corresponding to the inspection tasks, and the respective working conditions of the multiple base stations. The scope of work is to formulate a joint inspection route; multiple base stations conduct joint inspections through the joint inspection route; the joint inspection route is used to collect images of inspection points of interest in the inspection task, and the drone's gimbal camera is relative to the inspection points of interest during image collection; the task module is used to display the inspection record list and the inspection plan list; based on the inspection record list and the inspection plan list, the inspection tasks are recorded and generated; the operation analysis module is used to display the task list and the results list; the task list includes analysis information corresponding to the inspection task; the monitoring module, situation overview module, command and dispatch module, joint flight module, task module and operation analysis module are all displayed through the interface, and a map is set in the middle of the corresponding interface of the situation overview module, command and dispatch module, task module and operation analysis module. In this way, the display and route planning of the joint inspection of multiple base station drones are realized, the remote control of the drone is facilitated, and the comprehensiveness of the information display is improved.

[0016] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by practicing the above-mentioned technology of the present disclosure.

[0017] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A structural diagram of a UAV command and dispatch system provided by an embodiment of the present invention;

[0020] Figure 2 A flowchart of a method for determining a joint inspection route provided by an embodiment of the present invention;

[0021] Figure 3 A flowchart of a UAV joint inspection method provided by an embodiment of the present invention;

[0022] Figure 4 A schematic structural diagram of a UAV combined inspection device provided by an embodiment of the present invention;

[0023] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] The command and dispatch of drones is crucial in the drone inspection process. The command and dispatch system of related technologies usually only displays the corresponding monitoring images of drones and the implementation status of inspection tasks. There is no specific design and embodiment for multi-base station drone joint inspections, and the display of monitoring images and information on the completion status of inspection tasks is not very comprehensive.

[0026] Based on this, the embodiments of the present invention provide a drone command and dispatch system, a drone joint inspection method and a device, which can realize the display and route planning of multi-base station drone joint inspections, facilitate remote control of drones, and improve the comprehensiveness of information display.

[0027] To facilitate understanding of this embodiment, a drone command and dispatch system disclosed in an embodiment of the present invention is first introduced in detail.

[0028] Example 1

[0029] The embodiment of the present invention provides a UAV command and dispatch system. Figure 1 This is a structural diagram of a UAV command and dispatch system provided by an embodiment of the present invention. Figure 1 As shown, the UAV command and dispatch system may include the following structures: a monitoring module, a situation overview module, a command and dispatch module, a joint flight module, a mission module and an operation analysis module.

[0030] Among them, the monitoring module is used to monitor the images outside the drone's nest and the drone's images.

[0031] Specifically, the monitoring module is also used to automatically display the drone image when a base station is in a mission execution state, and to remove the drone image when the base station is not in a mission execution state.

[0032] Among them, the situation overview module is used to browse the base station list, drone list, inspection statistics list, inspection record list and operation analysis list to query the corresponding information.

[0033] Specifically, the base station list includes: the working status of the machine nest, the camera icon and the base station icon. Click the camera icon to open the monitoring outside the machine nest; click the base station icon to switch the map corresponding to the situation overview module to a base station-centered perspective; the drone list includes: real-time drone data, which includes: the drone's online status, model, power, cumulative number of missions, mileage and duration; the inspection statistics list includes: the total number of inspections, the current number of inspections, the inspection completion rate and the inspection line chart; the inspection record list includes: the task name, time, task progress, number of shooting results and number of alarms generated in the inspection record; the operation analysis list includes: the cumulative shooting results, number of alarms, duration and mileage of all base stations.

[0034] Among them, the command and dispatch module is used to switch base stations and obtain real-time information corresponding to the base stations, and command and control the drones based on real-time information and predetermined command strategies.

[0035] Specifically, real-time information includes: base station information, drone details information and nest mission information; base station information includes: cabin door status, nest status, nest battery level, cabin temperature, air conditioning status, data return status and wind speed; drone details information includes: drone's remaining power, altitude, speed, streaming status, camera status, image transmission signal, magnetic compass status, channel interference intensity, nose direction and gimbal pitch angle; nest mission information includes: inspection records and inspection plans; the corresponding interface of the command and dispatch module includes: one-key return button, pointing flight button, breakpoint flight button, immediate execution button and flight control button.

[0036] Among them, after clicking the one-key return button, the system will send a return instruction to the base station, which is equivalent to interrupting the current mission. The mission can be continued by using breakpoint flight later.

[0037] Among them, when the drone is not performing a mission in the machine nest, click the pointing flight button to select a point on the map, and then click confirm to make the drone fly to that point immediately.

[0038] Among them, after clicking the breakpoint flight button, the task record with the interrupted status will display the resume flight icon. Click it to confirm and you can continue the task.

[0039] Among them, for the scheduled tasks generated by the inspection plan, they are in the waiting state before the execution time. You can click the Execute Now button on the task record to advance the time to the present and execute the task immediately. There is also an Execute Now button for the inspection plan. After clicking it, a new task record will be generated according to the planned inspection route and the task will be executed.

[0040] When in manual flight mode, use the flight control buttons in the device's small window or the keyboard to control the drone's forward, backward, ascent, descent, left and right movement, rotation left and right, and emergency stop. This also supports controlling the camera gimbal, as well as any additional lighting and speaker systems.

[0041] You can switch between different base stations by pulling down, and other panel data will also switch according to the base station. At the same time, the middle map will be centered on the base station. When the drone is performing a mission, the middle map will be overlaid with route information and the drone icon.

[0042] Among them, the joint flight module is used to select multiple base stations and formulate joint inspection routes based on pre-set inspection tasks, the inspection power corresponding to the inspection tasks, and the respective working ranges of multiple base stations; multiple base stations conduct joint inspections through the joint inspection routes; among them, images of inspection points of interest in the inspection tasks are collected through the joint inspection routes, and the gimbal camera of the drone is relative to the inspection points of interest during image collection.

[0043] Specifically, the joint inspection route is displayed in the interface corresponding to the joint flight execution module, and the inspection waypoints and / or circling waypoints that have been flown are color-marked. For the inspection waypoints and / or circling waypoints that have not been flown, the corresponding inspection waypoints and / or circling waypoints are clicked according to the real-time modification strategy to modify the waypoint information.

[0044] Among them, the route is temporarily adjusted during flight, and the cruise points of interest are temporarily adjusted. For waypoints that have been flown, the waypoints become the specified color to indicate that they have been completed and cannot be modified; for waypoints that have not been flown, the waypoint information can be modified, including moving the waypoint, modifying the altitude and speed at the waypoint, modifying the point of interest corresponding to the waypoint, etc. If a waypoint has a corresponding point of interest, then during the flight from the waypoint to the next waypoint, the camera will remain facing the waypoint. After modifying the information, click Save to regenerate the route file and send it to the drone; it supports temporary inspection function. Select any point on the map and click Temporary Inspection. The drone will interrupt the current route mission and fly to the temporary inspection point. Later, you can resume the previously interrupted route mission by clicking the Resume Inspection button.

[0045] Among them, the task module is used to display the inspection record list and the inspection plan list; and record and generate inspection tasks based on the inspection record list and the inspection plan list.

[0046] Specifically, click on the inspection record list to display the GPS map, the GPS map superimposed with the route, shooting results and alarm time of this inspection; click on the inspection plan list to superimpose the route, and the inspection record list is associated with the inspection records of the inspection tasks generated by the inspection plan.

[0047] Among them, the job analysis module is used to display the task list and the results list; the task list includes the analysis information corresponding to the inspection task.

[0048] Specifically, the task list includes: task name, task start and end time, task progress, number of shooting results and number of alarms; after clicking the corresponding task name, the results list is associated with the results corresponding to the task record; the map corresponding to the operation analysis module is superimposed with the route, shooting results icon and alarm icon; by clicking the shooting results icon or the alarm icon, the picture corresponding to the shooting results icon or the video corresponding to the alarm icon is queried; the results list includes: shooting results icon or alarm icon, as well as the picture corresponding to the shooting results icon or the video corresponding to the alarm icon, and the corresponding processing button.

[0049] Among them, the monitoring module, situation overview module, command and dispatch module, joint flight execution module, mission module and operation analysis module are all displayed through the interface, and a map is set in the middle of the corresponding interface of the situation overview module, command and dispatch module, mission module and operation analysis module.

[0050] It should be noted that each interface of the drone command and dispatch system contains buttons, and by clicking the buttons, you can perform corresponding information query, information modification, task assignment, etc.

[0051] The drone command and dispatch system provided by the embodiment of the present invention comprises a monitoring module for monitoring the drone's external nest image and the drone image; a situation overview module for browsing the base station list, drone list, inspection statistics list, inspection record list and operation analysis list to query corresponding information; a command and dispatch module for switching base stations and obtaining real-time information corresponding to the base stations, and for commanding and controlling the drone based on the real-time information and a predetermined command strategy; a joint flight execution module for selecting multiple base stations, and formulating a joint inspection route based on pre-set inspection tasks, the inspection power corresponding to the inspection tasks, and the respective working ranges of multiple base stations; multiple base stations perform joint inspections via the joint inspection route; wherein The system uses a joint inspection route to capture images of inspection points of interest during the inspection mission. During image capture, the drone's gimbal camera is aligned with the inspection points of interest. The task module displays the inspection record list and inspection plan list, and records and generates inspection tasks based on the inspection record list and inspection plan list. The operation analysis module displays the task list and results list, and the task list includes analysis information corresponding to the inspection tasks. The monitoring module, situation overview module, command and dispatch module, joint flight module, task module, and operation analysis module are all displayed through the interface. Maps are placed in the middle of the corresponding interfaces of the situation overview module, command and dispatch module, task module, and operation analysis module. This method realizes the display and route planning of multi-base station drone joint inspections, facilitates remote control of drones, and improves the comprehensiveness of information display.

[0052] Example 2

[0053] An embodiment of the present invention also provides a method for determining a joint inspection route, specifically, a joint flight execution module formulates specific steps for a joint inspection route based on pre-set inspection tasks, inspection power corresponding to the inspection tasks, and the respective working ranges of multiple base stations. Figure 2 A flowchart of a joint inspection route determination method provided by an embodiment of the present invention is as follows: Figure 2 As shown, the joint flight module formulates a joint inspection route based on the pre-set inspection task, the inspection power corresponding to the inspection task, and the respective working ranges of multiple base stations, which may include the following steps:

[0054] Step S201 : determining a target inspection route based on the inspection task; the target inspection route includes inspection waypoints arranged in numbered order and surrounding waypoints corresponding to inspection points of interest.

[0055] Among them, determining the target inspection route based on the inspection task may include: determining the inspection waypoints and inspection points of interest based on the inspection task; determining the circling waypoints based on the inspection points of interest through a pre-set circling radius, number of waypoints and shooting targets; jointly numbering the inspection waypoints and circling waypoints to obtain a numbering sequence; and connecting the inspection waypoints and circling waypoints in the numbering sequence to form the target inspection route.

[0056] Among them, the inspection points of interest are points that require the drone to circle and shoot with the lens always aimed at. The shooting target is the demand for shooting the inspection points of interest, such as the angle requirement. Combined with the circling radius and the number of waypoints, the number of circling waypoints, the distance from the inspection points of interest, and the height can be determined.

[0057] Among them, the inspection waypoints and the circling waypoints are both waypoints, which together constitute the inspection trajectory. The inspection waypoints and the circling waypoints can be jointly numbered in sequence according to the target inspection route to obtain a numbering sequence.

[0058] Among them, the target inspection route is marked with the drone navigation information corresponding to the inspection waypoints and the circling waypoints.

[0059] Among them, the drone navigation information includes: drone angle information, drone speed information and drone altitude information.

[0060] Among them, the drone angle information may include: heading deflection angle and gimbal pitch angle.

[0061] Specifically, the method for determining the drone navigation information can be: determining the drone speed information, drone height information and drone position information based on the inspection task; the drone speed information includes: the first speed information corresponding to the inspection waypoint; the drone height information includes: the first height information corresponding to the inspection waypoint and the second height information corresponding to the inspection point of interest; the drone position information includes: the first position information corresponding to the inspection waypoint and the second position information corresponding to the inspection point of interest; arranging the waypoint position corresponding to the first position information and the waypoint position corresponding to the second position information in numbered order; arranging the waypoint height corresponding to the first height information and the waypoint height corresponding to the second height information in numbered order; determining the heading deflection angle based on the arranged waypoint position and the arranged waypoint height; setting the third height information, second speed information and third position information corresponding to each of the surrounding waypoints based on the shooting target; determining the gimbal pitch angle based on the second position information, the third position information, the second height information and the third height information.

[0062] Step S202 : determining a base station to be executed first and a base station to be executed later based on the distances between the plurality of base stations and the starting point of the target inspection route.

[0063] Among them, the base station close to the starting waypoint can be used as the base station for executing the task first, and the base station far from the starting waypoint can be used as the base station for executing the task later.

[0064] Step S203: The target inspection route is circled based on the maximum working range corresponding to the base station that first performs the task.

[0065] Step S204: circle the working range of the base station that performs the task after the target inspection route passes through the part outside the circled range.

[0066] In step S205, if there are inspection waypoints and / or circling waypoints with inconsistent numbering sequence within the circled range of the base station that first performs the task, the circled range corresponding to the base station that first performs the task is narrowed and the circled range corresponding to the base station that later performs the task is expanded until the numbering sequence of the inspection waypoints and / or circling waypoints is consistent within the circled range of the base station that first performs the task.

[0067] Step S206 , based on the inspection power, an inspection route power estimation is performed on the first target route consisting of inspection waypoints and / or surrounding waypoints with consecutive numbering sequences to obtain an estimation result.

[0068] In step S207, if the estimated result indicates that the inspection power corresponding to the first target route is less than the full power of the drone, the first target route consisting of inspection waypoints and / or surrounding waypoints with consecutive numbering sequence is used as the route corresponding to the base station for the first mission execution, and the next waypoint of the first target route is used as a transition waypoint.

[0069] Step S208: The second target route in the target inspection route except the first target route is used as the route corresponding to the base station for subsequent task execution.

[0070] Among them, the starting waypoint of the base station that executes the task first is the starting waypoint of the target inspection route, and the starting waypoint of the base station that executes the task later is the transition waypoint; the first target route and the second target route constitute a joint inspection route.

[0071] Example 3

[0072] An embodiment of the present invention also provides a UAV joint inspection method. Figure 3 A flowchart of a UAV joint inspection method provided by an embodiment of the present invention is shown as follows: Figure 3 As shown, the UAV joint inspection method may include the following steps:

[0073] Step S301: Acquire a pre-generated inspection task.

[0074] Among them, the inspection task can be generated regularly according to the inspection plan, for example, it can be generated regularly at a specified time every day or every week.

[0075] Among them, the inspection task may include: target inspection route, the target inspection route is marked with drone navigation information, the drone navigation information may include: drone angle information, drone speed information and drone altitude information, and the drone angle information may include: heading deflection angle and gimbal pitch angle.

[0076] Step S302 : formulating a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, and the respective working ranges of the multiple base stations.

[0077] The inspection points of interest in the inspection mission are imaged by combining the inspection routes, and the gimbal camera of the drone is aligned with the inspection points of interest during the image acquisition.

[0078] In step S303, the drones corresponding to the multiple base stations perform joint inspection along the joint inspection route.

[0079] Among them, one drone will perform the corresponding inspection task from the starting point until it reaches the target point and completes the corresponding inspection task. Then another drone will use the next point after the target point as the starting point to perform the corresponding inspection task until it reaches the end point.

[0080] Furthermore, for the selection of multiple base stations, for example, based on the first base station, a second base station is selected for joint inspection. The working range of the first base station is the first working range, and the working range of the second base station is the second working range. The specific steps are:

[0081] Step A1: determining part of the target inspection route outside the first working range.

[0082] Step A2: Determine whether some of the target inspection routes include a circling waypoint.

[0083] Among them, the circling waypoints are set around the inspection interest points. For an inspection interest point, some circling waypoints may be within the first working range, and some circling waypoints may be outside the first working range. At this time, the target inspection route will be divided and discontinuous, and it will be impossible to realize the inspection task of multiple base stations relaying. Therefore, it is necessary to determine whether some target inspection routes contain circling waypoints.

[0084] Step A3: If a surrounding waypoint is included, determine the target inspection interest point corresponding to the surrounding waypoint.

[0085] Step A4: base station screening is performed based on all surrounding waypoints corresponding to the partial target inspection route and the target inspection point of interest, to determine a candidate second base station whose working range includes the partial target inspection route.

[0086] Among them, when including circling waypoints, all circling waypoints corresponding to the target inspection interest point are excluded from the working range of the first base station, and the base station whose working range includes all circling waypoints corresponding to the target inspection interest point and part of the target inspection route is the candidate second base station.

[0087] The numbering sequence of the inspection waypoints and / or circling waypoints included in the part of the target inspection route is after the numbering sequence of the circling waypoints corresponding to the target inspection point of interest.

[0088] Step A5: If the circling waypoint is not included, base station screening is performed based on the partial target inspection route to determine a candidate second base station whose working range includes the partial target inspection route.

[0089] The numbering sequence of the inspection waypoints and / or circling waypoints included in the target inspection route is subsequent to the numbering sequence of the inspection waypoints and / or circling waypoints included in the first working range.

[0090] Step A6: select the candidate second base station closest to the first base station as the second base station.

[0091] Furthermore, there may be a situation where the working range cannot include some target inspection routes. In this case, a third base station can be added to jointly complete the inspection task. While ensuring the continuity of the numbering sequence of the inspection waypoints and / or surrounding waypoints within the working range of the first base station, the second base station can be used in the same way to ensure the continuity of the numbering sequence of the inspection waypoints and / or surrounding waypoints within the second working range. At this time, the working range can include the remaining target inspection routes and the base station closest to the second base station is the third base station.

[0092] The above are just illustrative examples, and the number of base stations is determined according to actual conditions.

[0093] The UAV joint inspection method provided in the embodiment of the present invention completes the inspection task by jointly inspecting UAVs of multiple base stations, thereby overcoming the problems of insufficient working range of a single base station and insufficient power of the UAVs.

[0094] Example 4

[0095] Corresponding to the above method embodiment, the embodiment of the present invention provides a UAV joint inspection device, Figure 4 A schematic diagram of the structure of a UAV joint inspection device provided by an embodiment of the present invention is shown as follows: Figure 4 As shown, the UAV joint inspection device may include:

[0096] Inspection task acquisition module 401, used to acquire pre-generated inspection tasks;

[0097] The joint inspection route formulation module 402 is configured to formulate a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, and the respective operating ranges of the multiple base stations; and to capture images of inspection points of interest in the inspection task using the joint inspection route, with the gimbal camera of the drone facing the inspection points of interest during the image capture.

[0098] The joint inspection module 403 is used for the UAVs corresponding to multiple base stations to perform joint inspections via a joint inspection route.

[0099] The UAV joint inspection device provided in the embodiment of the present invention completes the inspection task by jointly inspecting UAVs of multiple base stations, thereby overcoming the problems of insufficient working range of a single base station and insufficient power of the UAV.

[0100] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0101] Example 5

[0102] The embodiment of the present invention also provides an electronic device for running the above-mentioned UAV joint inspection method; see Figure 5 A structural schematic diagram of an electronic device is shown, which includes a memory 500 and a processor 501, wherein the memory 500 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 501 to implement the above-mentioned drone joint inspection method.

[0103] Furthermore, Figure 5 The electronic device shown further includes a bus 502 and a communication interface 503 , and the processor 501 , the communication interface 503 and the memory 500 are connected via the bus 502 .

[0104] The memory 500 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is achieved through at least one communication interface 503 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 502 may be an ISA bus, a PCI bus, or an EISA bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0105] The processor 501 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor 501 or software instructions. The above processor 501 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as a random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or register. The storage medium is located in the memory 500, and the processor 501 reads the information in the memory 500 and, in conjunction with its hardware, completes the steps of the method of the aforementioned embodiment.

[0106] An embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned drone joint inspection method. The specific implementation can be found in the method embodiment and will not be repeated here.

[0107] The computer program product for the method of performing joint drone inspection provided in an embodiment of the present invention includes a computer-readable storage medium storing non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method in the previous method embodiment. For specific implementation, please refer to the method embodiment and will not be repeated here.

[0108] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0109] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0110] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0111] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0112] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0113] Finally, it should be noted that the above embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A UAV command and dispatch system, characterized in that: The system includes: Monitoring module, situation overview module, command and dispatch module, joint flight execution module, mission module and operation analysis module; The monitoring module is used to monitor the external image of the drone and the drone image; The situation overview module is used to browse the base station list, drone list, inspection statistics list, inspection record list and operation analysis list to query corresponding information; The command and dispatch module is used to switch base stations and obtain real-time information corresponding to the base stations, and to command and control the UAV based on the real-time information and a predetermined command strategy; The joint flight execution module is used to select multiple base stations and formulate a joint inspection route based on pre-set inspection tasks, the inspection power corresponding to the inspection tasks, and the respective working ranges of the multiple base stations; The plurality of base stations perform a joint inspection via the joint inspection route; wherein, images of inspection points of interest in the inspection mission are captured via the joint inspection route, with the gimbal camera of the drone facing the inspection points of interest during the image capture; The task module is used to display the inspection record list and the inspection plan list; record and generate the inspection task based on the inspection record list and the inspection plan list; The job analysis module is used to display a task list and a results list; the task list includes analysis information corresponding to the inspection task; The monitoring module, the situation overview module, the command and dispatch module, the joint flight execution module, the mission module and the operation analysis module are all displayed through an interface, and a map is provided in the middle of the corresponding interfaces of the situation overview module, the command and dispatch module, the mission module and the operation analysis module; The task list includes: task name, task start and end time, task progress, number of photographic results, and number of alarms; after clicking the corresponding task name, the results list is associated with the results corresponding to the task record; the map corresponding to the operation analysis module is superimposed with routes, photographic result icons, and alarm icons; by clicking the photographic result icon or the alarm icon, the picture corresponding to the photographic result icon or the video corresponding to the alarm icon is queried; the results list includes: the photographic result icon or the alarm icon, the picture corresponding to the photographic result icon or the video corresponding to the alarm icon, and the corresponding processing button; The joint flight execution module formulates a joint inspection route based on the pre-set inspection tasks, the inspection power corresponding to the inspection tasks, and the respective working ranges of multiple base stations, including: Determine a target inspection route based on the inspection task; the target inspection route includes inspection waypoints arranged in numbered order and surrounding waypoints corresponding to inspection points of interest; Determining a base station for executing the task first and a base station for executing the task later based on the distances between the plurality of base stations and the starting point of the target inspection route; Defining the target inspection route based on the maximum working range corresponding to the base station that first performs the task; Circle part of the target inspection route outside the circled range through the working range of the post-task execution base station; If there are inspection waypoints and / or circling waypoints with inconsistent numbering sequence within the circled range of the first-performing task base station, narrow the circled range corresponding to the first-performing task base station and expand the circled range corresponding to the second-performing task base station until the numbering sequence of the inspection waypoints and / or circling waypoints is consistent within the circled range of the first-performing task base station; Based on the inspection power, an inspection route power estimation is performed on a first target route consisting of inspection waypoints and / or surrounding waypoints with consecutive numbering sequences to obtain an estimation result; If the estimated result indicates that the inspection power corresponding to the first target route is less than the full power of the drone, the first target route consisting of inspection waypoints and / or surrounding waypoints with consecutive numbering sequences is used as the route corresponding to the first mission-performing base station, and the next waypoint of the first target route is used as a transition waypoint; Using a second target route in the target inspection route other than the first target route as the route corresponding to the subsequent task execution base station; The starting point of the first-performing base station is the starting point of the target inspection route, and the starting point of the second-performing base station is the transition point; the first target route and the second target route constitute a joint inspection route; In the interface corresponding to the joint flight execution module, the joint inspection route is displayed, and the inspection waypoints and / or circling waypoints that have been flown are color-marked. For the inspection waypoints and / or circling waypoints that have not been flown, click the corresponding inspection waypoints and / or circling waypoints according to the real-time modification strategy to modify the waypoint information.

2. The UAV command and dispatch system according to claim 1, characterized in that: The monitoring module is also used to automatically display the drone image when a base station is in a mission execution state, and to remove the drone image when the base station is not in a mission execution state.

3. The UAV command and dispatch system according to claim 1, characterized in that: The base station list includes: the working status of the machine nest, the camera icon and the base station icon. By clicking the camera icon, the monitoring outside the machine nest can be opened; by clicking the base station icon, the map corresponding to the situation overview module is switched to a perspective centered on the base station; the drone list includes: real-time drone data, and the real-time drone data includes: the drone's online status, model, power, cumulative number of tasks, mileage and duration; the inspection statistics list includes: the total number of inspections, the current number of inspections, the inspection completion rate and the inspection line chart; the inspection record list includes: the task name, time, task progress, number of shooting results and number of alarms generated in the inspection record; the operation analysis list includes: the cumulative shooting results, number of alarms, duration and mileage of all base stations.

4. The UAV command and dispatch system according to claim 1, characterized in that: The real-time information includes: base station information, drone details, and nest mission information; the base station information includes: cabin door status, nest status, nest battery level, cabin temperature, air conditioning status, data backhaul status, and wind speed; the drone details include: remaining battery power, altitude, speed, streaming status, camera status, image transmission signal, magnetic compass status, channel interference intensity, nose direction, and gimbal pitch angle; the nest mission information includes: inspection records and inspection plans; The interface corresponding to the command and dispatch module includes: a one-key return button, a pointing flight button, a breakpoint flight button, an immediate execution button and a flight control button.

5. The UAV command and dispatch system according to claim 1, characterized in that: Click on the inspection record list to display the GPS map, the GPS map superimposed with the inspection route, shooting results and alarm time; Click on the inspection plan list to overlay and display the route, and the inspection record list is associated with the inspection records that generate inspection tasks for the inspection plan.

6. A UAV joint inspection method, characterized in that: The UAV command and dispatch system according to any one of claims 1 to 5, wherein the method comprises: Get pre-generated inspection tasks; A joint inspection route is formulated based on the inspection task, the inspection power corresponding to the inspection task, and the respective working ranges of multiple base stations; images of inspection points of interest in the inspection task are captured through the joint inspection route, with the gimbal camera of the drone facing the inspection points of interest during the image capture; The drones corresponding to the multiple base stations perform joint inspections along the joint inspection route.

7. A UAV joint inspection device, characterized in that: The UAV command and dispatch system according to any one of claims 1 to 5 comprises: Inspection task acquisition module, used to obtain pre-generated inspection tasks; A joint inspection route formulation module is used to formulate a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, and the respective working ranges of multiple base stations; images of inspection points of interest in the inspection task are collected through the joint inspection route, and the gimbal camera of the drone is relative to the inspection points of interest during image collection; The joint inspection module is used for the drones corresponding to multiple base stations to perform joint inspections through the joint inspection route.

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