A patrol inspection system based on multi-viewing of drones and ground vehicles

Abstract

The present invention provides an inspection system based on multiple fields of view of an unmanned aerial vehicle and a ground vehicle, which has the following characteristics: a ground vehicle end, which is used to control the ground vehicle to perform ground inspection movements, obtain first video information and first position information of an inspection object from a ground perspective, and output the first video information and the first position information; an unmanned aerial vehicle end, which is used to control the unmanned aerial vehicle to perform aerial inspection movements, obtain second video information and second position information of an inspection object from an aerial perspective, and output the second video information and the second position information; and a central control end, which is used to generate and output a first control signal for controlling the ground inspection movement and a second control signal for controlling the aerial inspection movement, and to receive and display the first video information, the first position information, the second video information and the second position information; wherein the ground vehicle end is also used to receive the first control signal, and the unmanned aerial vehicle end is also used to receive the second control signal.

Description

Technical Field

[0001] The present invention relates to the field of electronic information technology, and in particular to an inspection system based on multiple fields of view of an unmanned aerial vehicle and a ground vehicle. Background Art

[0002] The application of drone technology has developed rapidly in recent years, and is mostly used in mapping, disaster monitoring, pesticide spraying and other fields. Due to its high efficiency and low risk, drone inspections have been widely used in many industries. However, traditional drone inspections can only be carried out from an aerial perspective, and cannot be carried out in an all-round manner, resulting in limited inspection scope and effectiveness. Summary of the invention

[0003] The present invention is made to solve the above-mentioned problems, and aims to provide an inspection system based on multiple fields of view of unmanned aerial vehicles and ground vehicles.

[0004] The present invention provides an inspection system based on multiple fields of view of an unmanned aerial vehicle and a ground vehicle, which has the following characteristics, including: a ground vehicle side, including a ground vehicle, a first control unit, a first information acquisition unit and a first communication unit, the ground vehicle is used for ground inspection movements, the first control unit, the first information acquisition unit and the first communication unit are all arranged on the ground vehicle, the first control unit is used to control the ground vehicle to perform ground inspection movements, the first information acquisition unit is used to acquire first video information of an inspection object from a ground perspective and first position information of the ground vehicle during the ground inspection movement, and the first communication unit is used to output the first video information and the first position information; a drone side, including a drone, a second control unit, a second information acquisition unit and a second communication unit, the drone is used for aerial inspection movements, the second control unit, the second information acquisition unit and the second communication unit are all arranged on the drone, the second control unit is used to control the drone to perform aerial inspection movements, and the second information acquisition unit is used to acquire first video information of an inspection object from an aerial perspective during the aerial inspection movement. The second video information and the second position information of the UAV, the second communication unit is used to output the second video information and the second position information; and the central control end, including a third control unit, a third communication unit and a third display unit, the third control unit is used to generate a first control signal for controlling the ground vehicle to perform ground inspection movement and a second control signal for controlling the UAV to perform aerial inspection movement, the third communication unit is communicatively connected with the first communication unit and the second communication unit, and is used to receive the first video information, the first position information, the second video information and the second position information, and output the first control signal to the first communication unit and the second control signal to the second communication unit, and the third display unit is used to display the first video information, the first position information, the second video information and the second position information; wherein the first communication unit is also used to receive the first control signal, and the first control unit controls the ground vehicle to perform ground inspection movement according to the first control signal, and the second communication unit is also used to receive the second control signal, and the second control unit controls the UAV to perform aerial inspection movement according to the second control signal.

[0005] In the inspection system based on multiple fields of view of the UAV and the ground vehicle provided by the present invention, it may also have the following features: wherein the second information acquisition unit is also used to acquire third video information of the ground vehicle, the second control unit is also used to determine whether the ground vehicle is out of the field of view of the UAV end according to the third video information, and when the judgment result is out of the field of view, a warning signal is generated, the second communication unit is also used to transmit the warning signal to the third communication unit, and the third display unit is also used to display the warning signal.

[0006] The inspection system based on multiple fields of view of an unmanned aerial vehicle and a ground vehicle provided by the present invention may also have the following features: wherein the second information acquisition unit has two cameras, and the two cameras are used to acquire the second video information and the third video information respectively.

[0007] In the inspection system based on multiple fields of view of an unmanned aerial vehicle and a ground vehicle provided by the present invention, it may also have the following features: wherein, the first information acquisition unit includes a first position information module and a first image information module, the first position information module is used to acquire first position information, the first image information module is used to acquire first video information, the second information acquisition unit includes a second position information module and a second image information module, the second position information module is used to acquire second position information, the second image information module is used to acquire second video information.

[0008] In the inspection system based on multi-view of drone and ground vehicle provided by the present invention, it can also have the following features: wherein, the third communication unit includes a third Lora data transmission module and two third 5.8G image transmission modules, the first communication unit includes a first Lora data transmission module and a first 5.8G image transmission module, the first Lora data transmission module is used to transmit the first position information to the third Lora data transmission module, the first 5.8G image transmission module is used to transmit the first video information to the first third 5.8G image transmission module, the second communication unit includes a second Lora data transmission module and a second 5.8G image transmission module, the second Lora data transmission module is used to transmit the second position information to the third Lora data transmission module, the second 5.8G image transmission module is used to transmit the second video information to the second third 5.8G image transmission module, the third Lora data transmission module transmits the first control signal to the first Lora data transmission module, and transmits the second control signal to the second Lora data transmission module.

[0009] In the inspection system based on multi-view of unmanned aerial vehicle and ground vehicle provided by the present invention, it can also have such characteristics: wherein, it includes steps, S1, the third control unit generates a first control signal and a second control signal; S2, the first control signal is transmitted to the first communication unit through the third communication unit, and the second control signal is transmitted to the second communication unit; S3, the first communication unit receives the first control signal, and the second communication unit receives the second control signal; S4, the first control unit controls the ground vehicle to perform ground inspection movement, and the second control unit controls the unmanned aerial vehicle to perform aerial inspection movement; S5, the first information acquisition unit obtains the first video information and the first position information, and the second information acquisition unit obtains the second video information and the second position information; S6, the first communication unit transmits the first video information and the first position information to the central control end, and the second communication unit transmits the second video information and the second position information to the central control end; S7, the central control end receives and displays the first video information, the first position information, the second video information and the second position information.

[0010] In the inspection system based on multiple fields of view of the UAV and the ground vehicle provided by the present invention, it can also have the following features: wherein, the second information acquisition unit is also used to acquire the third video information of the ground vehicle, the second control unit is also used to determine whether the ground vehicle is out of the field of view of the UAV end according to the third video information, and when the judgment result is out of the field of view, a warning signal is generated, the second communication unit is also used to transmit the warning signal to the third communication unit, and the third display unit is also used to display the warning signal, step S5 also includes, the second information acquisition unit acquires the third video information, step S6 also includes, the second control unit determines whether the ground vehicle is out of the field of view of the UAV end according to the third video information, and when the judgment result is out of the field of view, a warning signal is generated, the second communication unit transmits the warning signal to the central control end, and step S7 also includes, the central control end receives and displays the warning signal.

[0011] Functions and Effects of the Invention

[0012] According to the inspection system based on multiple fields of view of unmanned aerial vehicles and ground vehicles involved in the present invention, the system collects video information through both air and land ends of the unmanned aerial vehicles and ground vehicles, so that inspection operations can be carried out in all directions and at multiple angles, ensuring that the inspection operations can be completed comprehensively and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural block diagram of an inspection system based on multiple fields of view of a drone and a ground vehicle in an embodiment of the present invention;

[0014] Figure 2 It is a structural block diagram of the ground trolley end in an embodiment of the present invention;

[0015] Figure 3 is a structural block diagram of the drone end in an embodiment of the present invention;

[0016] Figure 4 is a structural block diagram of a central control terminal in an embodiment of the present invention;

[0017] Figure 5 It is a flow chart of an inspection system based on multiple fields of view of an unmanned aerial vehicle and a ground vehicle in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments, in conjunction with the accompanying drawings, specifically illustrate the inspection system based on multiple fields of view of drones and ground vehicles involved in the present invention.

[0019] like Figure 1As shown in FIG. 4 , the inspection system 100 based on multi-view of an unmanned aerial vehicle and a ground vehicle provided in this embodiment includes a ground vehicle end 10 , an unmanned aerial vehicle end 20 and a central control end 30 .

[0020] The ground vehicle end 10 includes a ground vehicle 11 , a first control unit 12 , a first information acquisition unit 13 and a first communication unit 14 .

[0021] The ground trolley 11 performs ground inspection movement.

[0022] The first control unit 12 is disposed on the ground vehicle 11 and controls the ground vehicle 11 to perform ground inspection movement.

[0023] The first information acquisition unit 13 is arranged on the ground vehicle 11, and includes a first position information module 131 and a first image information module 132. The first position information module 131 acquires first position information, and the first image information module 132 has a camera, which acquires first video information of the inspection object from the ground perspective during the ground inspection movement, and the first video information is a real-time video.

[0024] The first communication unit 14 is disposed on the ground vehicle 11, and includes a first Lora data transmission module 141 and a first 5.8G image transmission module 142. The first Lora data transmission module 141 outputs first position information, and the first 5.8G image transmission module 142 outputs first video information.

[0025] The drone end 20 includes a drone 21 , a second control unit 22 , a second information acquisition unit 23 and a second communication unit 24 .

[0026] The drone 21 performs an aerial inspection movement.

[0027] The second control unit 22 is disposed on the drone 21 and controls the drone 21 to perform an aerial inspection movement.

[0028] The second information acquisition unit 23 is arranged on the drone 21, and includes a second position information module 231 and two second image information modules 232. The second position information module 231 acquires the second position information, and the two second image information modules 232 each have a camera, and the two cameras respectively acquire the second video information of the inspection object from the aerial perspective and acquire the third video information of the ground vehicle 11 during the aerial inspection movement, and the second video information and the third video information are real-time videos.

[0029] The second control unit 22 also determines whether the ground vehicle 11 is out of the field of vision of the UAV end 20 according to the third video information, and generates a warning signal when the judgment result is out of the field of vision.

[0030] The second communication unit 24 is disposed on the drone 21, and includes a second Lora data transmission module 241 and a second 5.8G image transmission module 242. The second Lora data transmission module 241 outputs second location information and a warning signal, and the second 5.8G image transmission module 242 outputs second video information.

[0031] The central control terminal 30 includes a third control unit 31 , a third communication unit 32 and a third display unit 33 .

[0032] The third control unit 31 generates a first control signal to control the ground vehicle to perform ground inspection and a second control signal to control the drone 21 to perform aerial inspection after manual operation. The first communication unit 14 also receives the first control signal, and the first control unit 12 controls the ground vehicle 11 to perform ground inspection according to the first control signal. The second communication unit 24 also receives the second control signal, and the second control unit 22 controls the drone 21 to perform aerial inspection according to the second control signal.

[0033] The third communication unit 32 is connected to the first communication unit 14 and the second communication unit 24, and includes a third Lora data transmission module 321 and two third 5.8G image transmission modules 322. The third Lora data transmission module 321 receives the first location information, the second location information and the warning signal, and the two third 5.8G image transmission modules 322 receive the first video information and the second video information respectively. The third Lora data transmission module 321 also outputs a first control signal to the first Lora data transmission module 141 and outputs a second control signal to the second Lora data transmission module 241.

[0034] The third display unit 33 displays the first video information, the first position information, the second video information, the second position information and the warning signal.

[0035] like Figure 5 As shown, the inspection system based on multi-viewing of drones and ground vehicles provided in this embodiment includes the following steps:

[0036] S1, the third control unit 31 generates a first control signal and a second control signal, and then enters step S2;

[0037] S2, transmitting the first control signal to the first communication unit 14 through the third communication unit 33, transmitting the second control signal to the second communication unit 24, and then entering step S3;

[0038] S3, the first communication unit 14 receives the first control signal, and the second communication unit 24 receives the second control signal, and then proceeds to step S4;

[0039] S4, the first control unit 12 controls the ground vehicle 11 to perform ground inspection movement, and the second control unit 22 controls the drone 21 to perform aerial inspection movement, and then enters step S5;

[0040] S5, the first information acquisition unit 13 acquires the first video information and the first position information, and the second information acquisition unit acquires 13 the second video information, the second position information and the third video information, and then proceeds to steps S6 and S7;

[0041] S6, the first communication unit 14 transmits the first video information and the first position information to the central control terminal 30, and the second communication unit 24 transmits the second video information and the second position information to the central control terminal 30, and then enters step S8;

[0042] S7, the second control unit 22 determines whether the ground vehicle 21 is out of the field of vision of the UAV terminal 10 according to the third video information, and generates a warning signal when the judgment result is out of the field of vision, and the second communication unit 24 transmits the warning signal to the central control terminal 30, and then enters step S8;

[0043] S8, the central control terminal 30 receives and displays the first video information, the first location information, the second video information, the second location information and the warning signal.

[0044] Functions and Effects of the Embodiments

[0045] According to the inspection system based on multiple fields of view of drones and ground vehicles involved in this embodiment, the system collects video information through both air and land ends of drones and ground vehicles, so that inspection operations can be carried out in all directions and at multiple angles, ensuring that the inspection operations can be completed comprehensively and efficiently.

[0046] According to the inspection system based on multiple fields of view of UAV and ground vehicle involved in this embodiment, the UAV end sends out a warning signal based on whether the ground vehicle end is out of the field of view of the UAV end, thereby reminding the staff to adjust the position and distance between the ground vehicle end and the UAV end, ensuring that the UAV end and the ground vehicle end can maintain air-ground collaborative work, thereby ensuring the coordination and stability of the inspection system based on multiple fields of view of UAV and ground vehicle involved in this embodiment.

[0047] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

Claims

1. A multi-view inspection system based on drones and ground vehicles, characterized in that: include: A ground trolley end includes a ground trolley, a first control unit, a first information acquisition unit and a first communication unit. The ground trolley is used to perform ground inspection movements. The first control unit, the first information acquisition unit and the first communication unit are all arranged on the ground trolley. The first control unit is used to control the ground trolley to perform the ground inspection movement. The first information acquisition unit is used to acquire first video information of an inspection object from a ground perspective and first position information of the ground trolley during the ground inspection movement. The first communication unit is used to output the first video information and the first position information. The drone end includes a drone, a second control unit, a second information acquisition unit, and a second communication unit. The drone is used to perform aerial inspection movements. The second control unit, the second information acquisition unit, and the second communication unit are all arranged on the drone. The second control unit is used to control the drone to perform the aerial inspection movement. The second information acquisition unit is used to acquire second video information of the inspection object from an aerial perspective and second position information of the drone during the aerial inspection movement. The second communication unit is used to output the second video information and the second position information. as well as The central control end includes a third control unit, a third communication unit and a third display unit, wherein the third control unit is used to generate a first control signal for controlling the ground vehicle to perform the ground inspection movement and a second control signal for controlling the drone end to perform the aerial inspection movement, the third communication unit is communicatively connected with the first communication unit and the second communication unit, and is used to receive the first video information, the first position information, the second video information and the second position information, and output the first control signal to the first communication unit and the second control signal to the second communication unit, and the third display unit is used to display the first video information, the first position information, the second video information and the second position information; The first communication unit is further used to receive the first control signal, and the first control unit controls the ground vehicle to perform the ground inspection movement according to the first control signal. The second communication unit is further used to receive the second control signal, and the second control unit controls the drone to perform the aerial inspection movement according to the second control signal. The second information acquisition unit is further used to acquire third video information of the ground vehicle, the second control unit is further used to determine whether the ground vehicle is out of the field of vision of the drone end according to the third video information, and when the determination result is out of the field of vision, generate a warning signal, the second communication unit is further used to transmit the warning signal to the third communication unit, and the third display unit is further used to display the warning signal, The second information acquisition unit has two cameras, and the two cameras are used to acquire the second video information and the third video information respectively. The first information acquisition unit includes a first position information module and a first image information module, the first position information module is used to acquire the first position information, and the first image information module is used to acquire the first video information. The second information acquisition unit includes a second position information module and a second image information module, the second position information module is used to acquire the second position information, and the second image information module is used to acquire the second video information. The third communication unit includes a third Lora data transmission module and two third 5.8G image transmission modules. The first communication unit includes a first Lora data transmission module and a first 5.8G image transmission module, wherein the first Lora data transmission module is used to transmit the first position information and the first control signal to the third Lora data transmission module, and the first 5.8G image transmission module is used to transmit the first video information to the first third 5.8G image transmission module. The second communication unit includes a second Lora data transmission module and a second 5.8G image transmission module, the second Lora data transmission module is used to transmit the second position information and the second control signal to the third Lora data transmission module, and the second 5.8G image transmission module is used to transmit the second video information to the second third 5.8G image transmission module. The third Lora data transmission module transmits the first control signal to the first Lora data transmission module, and transmits the second control signal to the second Lora data transmission module.

2. According to claim 1, a patrol inspection system based on multiple fields of view of an unmanned aerial vehicle and a ground vehicle, Features: The steps include: S1, the third control unit generates the first control signal and the second control signal; S2, transmitting the first control signal to the first communication unit and transmitting the second control signal to the second communication unit through the third communication unit; S3, the first communication unit receives the first control signal, and the second communication unit receives the second control signal; S4, the first control unit controls the ground vehicle to perform the ground inspection movement, and the second control unit controls the drone to perform the aerial inspection movement; S5, the first information acquisition unit acquires the first video information and the first location information, and the second information acquisition unit acquires the second video information and the second location information; S6, the first communication unit transmits the first video information and the first location information to the central control end, and the second communication unit transmits the second video information and the second location information to the central control end; S7, the central control end receives and displays the first video information, the first location information, the second video information and the second location information.

3. According to claim 2, the inspection system based on multi-viewing of drone and ground vehicle is characterized by: in, The second information acquisition unit is further used to acquire third video information of the ground vehicle, the second control unit is further used to determine whether the ground vehicle is out of the field of vision of the drone end according to the third video information, and when the determination result is out of the field of vision, generate a warning signal, the second communication unit is further used to transmit the warning signal to the third communication unit, and the third display unit is further used to display the warning signal. Step S5 also includes: the second information acquisition unit acquires the third video information, Step S6 also includes, the second control unit determines whether the ground vehicle is out of the field of vision of the drone end according to the third video information, and when the judgment result is out of the field of vision, generates the warning signal, and the second communication unit transmits the warning signal to the central control end, Step S7 also includes that the central control terminal receives and displays the warning signal.

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