A control method, device, equipment and medium for automatic patrol operation of unmanned aerial vehicle

Abstract

The embodiment of the present invention discloses a control method, device, equipment and medium for automatic patrol operations of unmanned aerial vehicles. The method includes: obtaining an automatic patrol operation task of an unmanned aerial vehicle reported by an applicant for the operation; extracting the applicant's identification information, substation operation area, operation time and operation drone identification information from the automatic patrol operation task of the unmanned aerial vehicle; based on the above information, verifying whether the automatic patrol operation task of the unmanned aerial vehicle meets the conditions for allowing the execution of the task; if so, obtaining a patrol operation route that matches the substation operation area, and sending the patrol operation route to a target unmanned aerial vehicle that matches the operation drone identification information, so as to instruct the target unmanned aerial vehicle to perform the automatic patrol operation task along the patrol operation route. The method performs automatic patrol operations according to route planning, can effectively eliminate blind spots for human patrols, promote the deep integration of intelligent technology and substation operation and maintenance work, and improve the quality and efficiency of substation operation and maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of power inspection of unmanned aerial vehicles (UAVs), and in particular to a control method, device, equipment and medium for automatic inspection operations of UAVs. Background Art

[0002] At present, automatic drone inspections have been widely used in the fields of power transmission and distribution, but their application in the field of power transformation is still in its infancy.

[0003] Currently, drone inspections of power transmission and distribution lines mostly rely on human control. This requires manual adjustment of the tilt angle during filming and manual control during navigation, and intelligent flight has yet to be achieved. While developing this invention, the inventors discovered that existing technologies rely on manual control, which increases the risk of uncontrollable factors. Furthermore, substations are complex and densely populated with equipment, posing a collision risk during drone inspections. Summary of the Invention

[0004] The embodiments of the present invention provide a control method, device, equipment and medium for automatic patrol operations of unmanned aerial vehicles, so as to provide a new technology for safe and reliable automatic patrol operations of unmanned aerial vehicles.

[0005] According to one aspect of the present invention, a method for controlling an automatic patrol operation of a drone is provided, comprising:

[0006] Obtain the drone automatic patrol operation tasks reported by the operation applicant;

[0007] Extracting applicant identification information, substation operation area, operation time, and operation drone identification information from the drone automatic patrol operation task;

[0008] Verify whether the drone automatic patrol operation task meets the task execution permission conditions based on the applicant identification information, substation operation area, operation time and operation drone identification information;

[0009] If so, obtain the patrol operation route that matches the substation operation area, and send the patrol operation route to the target drone that matches the operation drone identification information to instruct the target drone to perform automatic patrol operation tasks along the patrol operation route.

[0010] Furthermore, based on the applicant identification information, substation operation area, operation time and operation drone identification information, verify whether the drone automatic patrol operation task meets the task execution permission conditions, including:

[0011] Verify whether the applicant meets the job qualification requirements based on the applicant identification information;

[0012] Verify whether the individual operation conditions are met according to the substation operation area;

[0013] Verify whether the operating environment conditions are met according to the operating time;

[0014] Verify whether the safe working conditions of the drone are met based on the identification information of the operating drone;

[0015] When the applicant's operating qualification conditions, the individual operating conditions, the operating environment conditions and the drone's safe operating conditions are all met, it is determined that the drone's automatic patrol operation task meets the task execution permission conditions.

[0016] Furthermore, based on the applicant identification information, verify whether the applicant's job qualification conditions are met, including:

[0017] querying a database of qualified applicants based on the applicant identification information;

[0018] If the applicant identification information is found in the qualification applicant database, it is determined that the applicant's job qualification conditions are met.

[0019] Furthermore, based on the substation operation area, verifying whether the independent operation conditions are met includes:

[0020] According to the substation operation area, query the current operation task set;

[0021] If the substation operation area does not hit any current operation area in all current operation tasks, it is determined that the independent operation condition is met.

[0022] Furthermore, based on the operation time, verifying whether the operation environment conditions are met includes:

[0023] Determine, based on the operation time, an operation time range that matches the automatic patrol operation task of the UAV;

[0024] Querying a real-time weather database to obtain weather query results that match the operation time range;

[0025] If it is determined that the weather query result does not hit any no-fly weather state in the no-fly weather state set, it is determined that the operating environment condition is met.

[0026] Furthermore, based on the identification information of the operating drone, verify whether the drone's safe working conditions are met, including:

[0027] Sending a manual inspection command for the operation drone identification information to the operation applicant, so that the operation applicant can perform an appearance integrity inspection and installation correctness inspection on the target drone matching the operation drone identification information;

[0028] If a detection pass response is received from the job applicant, it is determined that the drone safety working conditions are met.

[0029] Furthermore, the method further comprises:

[0030] Obtain the target planned route uploaded by the route planner for the target substation area;

[0031] Verifying whether the target planned route meets a safety distance condition based on the distance relationship between each route point in the target planned route and each substation equipment in the target substation area;

[0032] If so, providing the target planned route to at least two reviewers for backup review;

[0033] When a response that the backup audit is passed is detected, the target planned route is sent to a tester for on-site testing;

[0034] If it is determined that the target planned route passes the on-site test, the target planned route is stored as a patrol operation route corresponding to the target substation area.

[0035] According to another aspect of the present invention, a control device for an automatic patrol operation of a drone is provided, comprising:

[0036] The operation task acquisition module is used to obtain the drone automatic patrol operation tasks reported by the operation applicant;

[0037] A key information identification module is used to extract applicant identification information, substation operation area, operation time and operation drone identification information in the drone automatic patrol operation task;

[0038] A task execution permission condition verification module is used to verify whether the UAV automatic patrol operation task meets the task execution permission condition based on the applicant identification information, substation operation area, operation time and operation UAV identification information;

[0039] The patrol operation route sending module is used to obtain the patrol operation route that matches the substation operation area, and send the patrol operation route to the target drone that matches the operation drone identification information to instruct the target drone to perform automatic patrol operation tasks along the patrol operation route.

[0040] According to another aspect of the present invention, an electronic device is provided, comprising:

[0041] at least one processor; and

[0042] a memory communicatively connected to the at least one processor; wherein,

[0043] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a control method for automatic patrol operations of a drone as described in any embodiment of the present invention.

[0044] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a method for automatic patrol operation of a drone as described in any embodiment of the present invention when executed.

[0045] The technical solution of the embodiment of the present invention obtains the automatic inspection operation task of the drone reported by the operation applicant, extracts the applicant's identification information, substation operation area, operation time and operation drone identification information, and determines whether the execution conditions allowed by the operation task are met based on the information. If so, the target planning route uploaded by the route planner for the target substation area is obtained, and the operation drone performs the automatic inspection operation task along the target planning route. The technical solution of the embodiment of the present invention solves the various risk problems brought about by human-controlled drone inspection operations, and provides a safe and reliable new way of automatic drone inspection operations, which effectively eliminates blind spots in human inspections, and can effectively promote the deep integration of intelligent technology and substation operation and maintenance work, and improve the quality and efficiency of substation operation and maintenance.

[0046] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 This is a flow chart of a method for controlling an automatic patrol operation of a UAV provided in accordance with the first embodiment of the present invention;

[0049] Figure 2This is a flow chart of another method for controlling an automatic patrol operation of a UAV provided in accordance with the second embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram of the structure of a control device for automatic patrol operations of a UAV provided in accordance with a third embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the structure of an electronic device that implements a control method for an automatic patrol operation of a drone according to an embodiment of the present invention; DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0053] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0054] Example 1

[0055] Figure 1 This is a flow chart of a method for controlling an automatic patrol operation of a UAV provided in the first embodiment of the present invention. This embodiment is applicable to the case where a UAV performs an automatic patrol operation in a substation. The method can be executed by a control device for an automatic patrol operation of a UAV. The control device for an automatic patrol operation of a UAV can be implemented in the form of hardware and / or software. The control device for an automatic patrol operation of a UAV can be configured in any electronic device with a network communication function. Figure 1 As shown, the control method for the automatic patrol operation of the UAV in this embodiment may include but is not limited to the following steps:

[0056] S110: Obtain the drone automatic patrol operation task reported by the operation applicant.

[0057] Optionally, drone automated patrol missions can be obtained through a form page. For example, a drop-down box is used to select the operation time, and the text input box is used to enter the applicant's information, drone information, and weather conditions within the operation time range. Once all information is entered, the form is submitted to complete the report.

[0058] Alternatively, the drone automatic patrol operation task can also be obtained through the form of a navigation page. For example, the navigation page prompts you to enter the applicant information and drone information, and after completing the filling, you can proceed to the next page, until all the information is entered and the report is completed.

[0059] S120: Extract the applicant identification information, substation operation area, operation time and operation drone identification information from the drone automatic patrol operation task.

[0060] The applicant identification information may be a unique work number of the applicant, or a machine number of the type of drone that can be operated. For example, all applicants who can operate type A drone have applicant identification information A.

[0061] The substation operation area can be a rectangular area defined by four points on a plane. Alternatively, it can be a circular area with a radius of a certain distance and the center of the operation area as the origin. The selection can be made based on the specific inspection operation type and on-site environmental conditions.

[0062] The operation time of the drone is determined by the operation start time point and the operation end time point.

[0063] The identification information of the operating drone can be a unique machine number of the drone, or the type of patrol operation task. For example, all drones capable of completing patrol type B operation tasks contain drone identification information B.

[0064] Furthermore, information extraction can be performed on drone automated patrol missions submitted via form pages through keyword matching. For example, when a keyword successfully matches "applicant information," the identifying information following the keyword can be extracted as the applicant's identifying information. Information extraction can also be performed on drone automated patrol missions submitted via navigation pages through regional positioning. Since navigation pages have a fixed format, identifying information can be extracted by dividing the submitted area.

[0065] S130. Verify whether the UAV automatic patrol operation task meets the task execution permission conditions based on the applicant identification information, substation operation area, operation time and operation UAV identification information.

[0066] The task execution permission condition may be composed of one or more task execution permission sub-conditions. When all of the one or more task execution permission sub-conditions are met, it can be determined that the UAV automatic patrol operation task meets the task execution permission condition. Alternatively, when most of the one or more task execution permission sub-conditions are met, it can be determined that the UAV automatic patrol operation task meets the task execution permission condition.

[0067] In a specific example, when the satisfaction rate of each of the aforementioned task execution permission sub-conditions exceeds 80% during the verification process, the task execution permission condition is determined to be satisfied, and the automatic patrol operation can then be executed. Alternatively, when all the required sub-conditions of each of the aforementioned task execution permission sub-conditions are satisfied, and a majority of the non-required sub-conditions are satisfied, the task execution permission condition is determined to be satisfied, and the automatic patrol operation can be executed. The correspondence between the task execution permission sub-conditions and the task execution permission condition can be determined based on the specific patrol operation type, on-site environmental conditions, and operational safety requirements.

[0068] Applicants for drone operations must meet qualification requirements to operate the target drone for inspections. Applicants must receive theoretical training, master the methods and technical means of drone inspections, and obtain a safety operator license. Applicants must hold this license before they can begin work. Accordingly, applicant identification information can be used to verify whether the applicant meets the qualification requirements (which can be understood as a sub-condition for allowing the execution of a task).

[0069] Similarly, to ensure the safety of drone automated patrol operations, it is necessary to require that only one drone be present in the same substation operating area at any given time to perform the automated patrol operation. Accordingly, the substation operating area (or, alternatively, the operating time) can be used to verify whether the drone automated patrol operation meets the independent operation conditions.

[0070] Furthermore, given that drones primarily perform automated patrol operations outdoors, environmental factors during these operations also need to be considered. If extreme weather conditions such as strong winds, rain, or snow occur during the scheduled operation time, this can significantly reduce the safety of the drone's automated patrol operations. Accordingly, weather conditions in the substation operating area can be queried based on the operation time, and the results of the weather query can be used to verify whether the drone's automated patrol operation meets the environmental requirements.

[0071] Furthermore, when selecting a specific operational drone for the automated patrol mission, it is also necessary to conduct safety checks on the selected drone, such as whether it is finished in appearance, has sufficient battery power, and is properly installed, to ensure safety during subsequent flight operations. Accordingly, based on the operational drone identification information, it can be verified whether the drone used to perform the automated patrol mission meets the drone safety operating requirements.

[0072] It can be understood that the satisfaction of the above-mentioned applicant's operating qualification conditions, individual operating conditions, operating environment conditions and drone safety working conditions can all improve the safety of the drone's automatic patrol operation task in a set dimension. Therefore, it can be set that when the applicant's operating qualification conditions, the individual operating conditions, the operating environment conditions and the drone safety working conditions are all met, it is determined that the drone's automatic patrol operation task meets the task execution permission conditions.

[0073] S140: If the mission execution permission conditions are met, a patrol operation route matching the substation operation area is obtained, and the patrol operation route is sent to a target drone matching the operating drone's identification information, instructing the target drone to execute the automatic patrol operation mission along the patrol operation route. In this embodiment, the operation route for each substation operation area can be pre-planned, and the mapping relationship between the operation area and the matching patrol operation route is stored in a route database. Accordingly, when the mission execution permission conditions are met, the route database can be queried based on the substation operation area in the drone's automatic patrol operation mission to obtain a patrol operation route matching the substation operation area.

[0074] As previously mentioned, the target drone for performing the drone's automated patrol mission can be determined using the operating drone identification information. Specifically, when the operating drone identification information is a unique drone identifier, the target drone can be directly determined from all available drones. When the operating drone identification information is a drone type description, an idle drone can be selected as the target drone from all drones matching the drone type description.

[0075] Among them, the patrol operation route is composed of multiple route points connected in series. By sending the above-mentioned patrol operation route to the target drone, the target drone can automatically patrol the substation operation area along multiple route points to perform the drone's automatic patrol operation task.

[0076] Specifically, the target drone could be a power drone. Power drones are specialized drones used in power systems. Compared to ordinary drones, they possess specialized control "brains" specifically for power systems, making them ideal for drone inspections of transmission and distribution lines. Before a power drone can conduct an automated inspection, it must obtain the task submitted by the operator.

[0077] The technical solution of the embodiment of the present invention obtains the automatic inspection operation task of the drone reported by the operation applicant, extracts the applicant's identification information, substation operation area, operation time and operation drone identification information, and determines whether the execution conditions allowed by the operation task are met based on the information. If so, the target planning route uploaded by the route planner for the target substation area is obtained, and the operation drone performs the automatic inspection operation task along the target planning route. The technical solution of the embodiment of the present invention solves the various risk problems brought about by human-controlled drone inspection operations, and provides a safe and reliable new way of automatic drone inspection operations, which effectively eliminates blind spots in human inspections, and can effectively promote the deep integration of intelligent technology and substation operation and maintenance work, and improve the quality and efficiency of substation operation and maintenance.

[0078] Based on the above embodiments, the method may further include:

[0079] Obtain the target planned route uploaded by the route planner for the target substation area; verify whether the target planned route meets the safety distance condition based on the distance relationship between each route point in the target planned route and each substation equipment in the target substation area; if so, provide the target planned route to at least two reviewers for backup review; when a response that the backup review passes is detected, send the target planned route to a tester for on-site testing; if it is determined that the target planned route passes the on-site test, store the target planned route as a patrol operation route corresponding to the target substation area.

[0080] In this embodiment, a specific implementation method is provided for verifying the target planned route obtained by the route planner multiple times and storing the result in the route database.

[0081] Specifically, after obtaining the target planned route, we can first verify whether the distances between each route point in the target planned route and each substation equipment in the target substation area are greater than or equal to the preset safety distance. If so, it is determined that the safety distance conditions are met when the drone performs flight operations along the target planned route.

[0082] In a specific example, the above-mentioned safety distance conditions can be that the drone should maintain a safety distance of more than 3.9 meters from 500kV equipment, the drone should maintain a safety distance of more than 2.1 meters from 220kV equipment, and the drone should maintain a safety distance of more than 1.2 meters from 110kV equipment.

[0083] It is understood that the verification process for the aforementioned safety distance conditions can be automatically determined by software. To further ensure the safety of the target planned route, the target planned route can be further verified by manual review. That is, the target planned route is provided to multiple reviewers for backup review. If multiple reviewers confirm the accuracy of the target planned route, the target planned route is determined to have passed manual review.

[0084] Finally, in order to further ensure the availability and safety of the target planned route, it is necessary to further send the target planned route to the tester for on-site testing; if it is determined that the target planned route passes the on-site test, the target planned route is determined to be the patrol operation route corresponding to the target substation area, and the target planned route can be stored in the database.

[0085] The benefit of this setup is that by using multiple verification methods to verify the target planned route stored as the patrol operation route, the patrol operation route can be highly available and secure. This, in turn, improves the security of the drone's automated patrol operation from a new perspective.

[0086] Example 2

[0087] Figure 2 This is a flow chart of a control method for automatic patrol operations of a drone provided in Example 2 of the present invention. This embodiment is a further refinement of the above-mentioned technical solutions. The technical solution in this embodiment can be combined with the various optional solutions in one or more of the above-mentioned embodiments.

[0088] like Figure 2 As shown, the control method for the automatic patrol operation of the UAV of this embodiment may include:

[0089] S210: Obtain the drone automatic patrol operation task reported by the operation applicant.

[0090] Optionally, the UAV automatic patrol operation task is reported in the form of a navigation page.

[0091] S220: Extract the applicant identification information, substation working area, working time and working drone identification information from the drone automatic patrol operation task.

[0092] Optionally, in the automatic drone patrol operation task, the navigation page can be divided into information filling areas, and the applicant's identification information, substation working area, operation time and operation drone identification information can be extracted by locking the corresponding information area.

[0093] S230. Verify whether the applicant's job qualification conditions are met based on the applicant identification information: if so, execute S240; otherwise, execute S270.

[0094] Optionally, based on the applicant identification information, a method for verifying whether the applicant's job qualification conditions are met may include: querying a qualification applicant database based on the applicant identification information; if the applicant identification information is found in the qualification applicant database, it is determined that the applicant's job qualification conditions are met.

[0095] Specifically, the applicant's unique work ID is used to verify their operational qualifications. The system checks whether the applicant has completed relevant drone operation theory and practice training and passed the exam. The system also checks whether the applicant has the corresponding operational authority. If so, the applicant meets the operational qualifications.

[0096] S240. Verify whether the independent operation conditions are met according to the substation operation area: if so, execute S250; otherwise, execute S270.

[0097] In this embodiment, the substation operation time and operation area are extracted according to the automatic patrol operation task of the drone. The system queries the operation task set of the current time period according to the substation operation area. If the substation operation area does not hit any current operation area in all current operation tasks, the single operation condition is met.

[0098] S250. Verify whether the operating environment conditions are met based on the operating time: if so, execute S260; otherwise, execute S270.

[0099] In this embodiment, the substation operating hours are extracted based on the drone automated patrol task, and an operating time range matching the drone automated patrol task is determined. A weather query result matching the operating time range is obtained by querying a real-time weather database. If the weather query result does not match any of the no-fly weather conditions in the no-fly weather condition set, the operating environment conditions are met.

[0100] The no-fly weather conditions in the no-fly weather conditions concentration may include atmospheric phenomena such as fog, snow, rain, hail, and wind speeds exceeding 8m / s.

[0101] S260. Verify whether the drone safety working conditions are met based on the operating drone identification information. If so, execute S280; otherwise, execute S270.

[0102] wherein, a manual inspection command for the operation drone identification information is sent to the operation applicant, so that the operation applicant can perform an appearance integrity inspection and an installation correctness inspection on the target drone matching the operation drone identification information;

[0103] If a detection pass response is received from the job applicant, it is determined that the drone safety working conditions are met.

[0104] Specifically, the target drone must be inspected for appearance integrity before it can begin operations. This includes inspecting the drone's fuselage for cracks or damage, loose screws, and blades for damage or cracks, as well as ensuring the propellers are securely fastened. Installation is also required, including checking the remote controller's joystick for tightness, the battery's securement, and the installation of an SD card to ensure sufficient space.

[0105] S270: If it is determined that the UAV automatic inspection task does not meet the execution permission conditions, the task is not executed and the process ends.

[0106] S280: Determine that the UAV automatic patrol operation task meets the task execution permission conditions, the UAV performs the automatic patrol operation, and executes S290.

[0107] In this embodiment, in order to ensure the safety of the drone during automatic patrol operations, automatic patrol operations can only be performed when the applicant meets the operation qualification conditions, the substation working area meets the independent operation conditions, the operation environment conditions are met within the operation time, and the operation drone meets the safety working conditions.

[0108] S290. Obtain a patrol operation route that matches the substation operation area, and send the patrol operation route to a target drone that matches the operation drone identification information to instruct the target drone to perform an automatic patrol operation task along the patrol operation route.

[0109] In this embodiment, when all conditions for task execution are met, the system sends a patrol operation route that matches the substation operation area to the drone, and the drone performs an automatic patrol operation task in the target operation area along the patrol operation route.

[0110] The technical solution of the embodiment of the present invention obtains the automatic drone patrol operation task reported by the operation applicant, extracts the applicant's identification information, substation operation area, operation time and operation drone identification information, and determines whether the execution conditions allowed by the operation task are met based on the information. Then, the target planned route uploaded by the route planner for the target substation area is obtained, and after safety distance measurement, manual double verification of the software and on-site testing, the automatic drone patrol operation task is realized. This technical solution is different from the previous inspections that relied on manpower. It can effectively eliminate blind spots for human patrols and solve the problem of limited scope of current drone inspection operations. At the same time, it can reduce the risk of drone collisions and ensure the safe and stable operation of power inspection activities.

[0111] Example 3

[0112] Figure 3 This is a schematic diagram of the structure of a UAV automatic patrol operation control device provided by the third embodiment of the present invention. Figure 3 As shown, the device includes: an operation task acquisition module 310, a key information identification module 320, a task execution permission condition verification module 330, and a patrol operation route issuance module 340, wherein:

[0113] The operation task acquisition module 310 is used to obtain the drone automatic patrol operation task reported by the operation applicant.

[0114] The key information identification module 320 is used to extract the applicant's identification information, substation operation area, operation time and operation drone identification information in the drone automatic patrol operation task.

[0115] The task execution permission condition verification module 330 is used to verify whether the drone automatic patrol operation task meets the task execution permission condition based on the applicant identification information, substation operation area, operation time and operation drone identification information.

[0116] The patrol operation route sending module 340 is used to send the patrol operation route to the target drone that matches the operating drone identification information, so as to instruct the target drone to perform the automatic patrol operation task along the patrol operation route.

[0117] The technical solution of the embodiment of the present invention obtains the automatic inspection operation task of the drone reported by the operation applicant, extracts the applicant's identification information, substation operation area, operation time and operation drone identification information, and determines whether the execution conditions allowed by the operation task are met based on the information. If so, the target planning route uploaded by the route planner for the target substation area is obtained, and the operation drone performs the automatic inspection operation task along the target planning route. The technical solution of the embodiment of the present invention solves the various risk problems brought about by human-controlled drone inspection operations, and provides a safe and reliable new way of automatic drone inspection operations, which effectively eliminates blind spots in human inspections, and can effectively promote the deep integration of intelligent technology and substation operation and maintenance work, and improve the quality and efficiency of substation operation and maintenance.

[0118] Based on the above embodiments, the task execution permission condition verification module 430 specifically includes:

[0119] An applicant's job qualification verification unit is used to verify whether the applicant's job qualification conditions are met based on the applicant's identification information;

[0120] A separate operation condition verification unit, configured to verify whether separate operation conditions are met according to the substation operation area;

[0121] An operating environment condition verification unit, configured to verify whether the operating environment condition is met according to the operating time;

[0122] A drone safety working condition verification unit, configured to verify whether the drone safety working conditions are met based on the operating drone identification information;

[0123] The comprehensive verification unit is used to determine whether the UAV automatic patrol operation task meets the task execution permission conditions when the applicant's operation qualification conditions, the individual operation conditions, the operation environment conditions and the UAV safe working conditions are all met.

[0124] Based on the above embodiments, the applicant's job qualification verification unit can be used to:

[0125] querying a database of qualified applicants based on the applicant identification information;

[0126] If the applicant identification information is found in the qualification applicant database, it is determined that the applicant's job qualification conditions are met.

[0127] Based on the above embodiments, the independent operation condition verification unit can be specifically used for:

[0128] According to the substation operation area, query the current operation task set;

[0129] If the substation operation area does not hit any current operation area in all current operation tasks, it is determined that the independent operation condition is met.

[0130] Based on the above embodiments, the operating environment condition verification unit can be specifically used to:

[0131] Determine, based on the operation time, an operation time range that matches the automatic patrol operation task of the UAV;

[0132] Querying a real-time weather database to obtain weather query results that match the operation time range;

[0133] If it is determined that the weather query result does not hit any no-fly weather state in the no-fly weather state set, it is determined that the operating environment condition is met.

[0134] Based on the above embodiments, the drone safe working condition unit can be specifically used to:

[0135] Sending a manual inspection command for the operation drone identification information to the operation applicant, so that the operation applicant can perform an appearance integrity inspection and installation correctness inspection on the target drone matching the operation drone identification information;

[0136] If a detection pass response is received from the job applicant, it is determined that the drone safety working conditions are met.

[0137] Based on the above embodiments, the patrol operation route sending module 440 specifically includes:

[0138] Obtain the target planned route uploaded by the route planner for the target substation area;

[0139] A safety distance condition verification unit, configured to verify whether the target planned route satisfies the safety distance condition based on the distance relationship between each route point in the target planned route and each substation equipment in the target substation area;

[0140] If so, providing the target planned route to at least two reviewers for backup review;

[0141] When a response that the backup audit is passed is detected, the target planned route is sent to a tester for on-site testing;

[0142] If it is determined that the target planned route passes the on-site test, the target planned route is stored as a patrol operation route corresponding to the target substation area.

[0143] The device for controlling the automatic patrol operation of an unmanned aerial vehicle provided in an embodiment of the present invention can execute the automatic patrol operation control method of an unmanned aerial vehicle provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the automatic patrol operation control method of an unmanned aerial vehicle. For detailed process, please refer to the relevant operations of the automatic patrol operation control method of an unmanned aerial vehicle in the aforementioned embodiment.

[0144] Example 4

[0145] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0146] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0147] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0148] Processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any other suitable processor, controller, microcontroller, etc. Processor 11 executes the various methods and processes described above, including the control of an automatic patrol operation of a drone as described in an embodiment of the present invention.

[0149] The method comprises:

[0150] Obtain the drone automatic patrol operation tasks reported by the operation applicant;

[0151] Extracting applicant identification information, substation operation area, operation time, and operation drone identification information from the drone automatic patrol operation task;

[0152] Verify whether the drone automatic patrol operation task meets the task execution permission conditions based on the applicant identification information, substation operation area, operation time and operation drone identification information;

[0153] If so, obtain the patrol operation route that matches the substation operation area, and send the patrol operation route to the target drone that matches the operation drone identification information to instruct the target drone to perform automatic patrol operation tasks along the patrol operation route.

[0154] In some embodiments, the method for controlling the automatic patrol operation of a drone described in an embodiment of the present invention may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps in the method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the method for controlling the automatic patrol operation of a drone as described in an embodiment of the present invention in any other appropriate manner (for example, by means of firmware).

[0155] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0156] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0157] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0158] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0159] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0160] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0161] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0162] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A control method for automatic patrol operation of a UAV, characterized in that: include: Obtain the drone automatic patrol operation tasks reported by the operation applicant; Extracting applicant identification information, substation operation area, operation time, and operation drone identification information from the drone automatic patrol operation task; Verify whether the drone automatic patrol operation task meets the task execution permission conditions based on the applicant identification information, substation operation area, operation time and operation drone identification information; If so, a patrol operation route matching the substation operation area is obtained, and the patrol operation route is sent to a target drone matching the operating drone identification information, so as to instruct the target drone to perform an automatic patrol operation task along the patrol operation route; The method further includes: obtaining a target planned route uploaded by a route planner for a target substation operation area; Verifying whether the target planned route meets a safety distance condition based on the distance relationship between each route point in the target planned route and each substation equipment in the target substation operation area; If yes, providing the target planned route to at least two reviewers for backup review. If both of the at least two reviewers confirm the accuracy of the target planned route, determining that the backup review of the target planned route has passed. When a response that the backup audit is passed is detected, the target planned route is sent to a tester for on-site testing; If it is determined that the target planned route passes the on-site test, the target planned route is stored as a patrol operation route corresponding to the target substation operation area.

2. The method according to claim 1, characterized in that Verify whether the UAV automatic patrol operation task meets the task execution permission conditions based on the applicant identification information, substation operation area, operation time and operation UAV identification information, including: Verify whether the applicant meets the job qualification requirements based on the applicant identification information; Verify whether the individual operation conditions are met according to the substation operation area; Verify whether the operating environment conditions are met according to the operating time; Verify whether the safe working conditions of the drone are met based on the identification information of the operating drone; When the applicant's operating qualification conditions, the individual operating conditions, the operating environment conditions, and the drone's safe operating conditions are all met, it is determined that the drone's automatic patrol operation task meets the task execution permission conditions.

3. The method according to claim 2, characterized in that Verify whether the applicant's job qualification conditions are met based on the applicant's identification information, including: querying a database of qualified applicants based on the applicant identification information; If the applicant identification information is found in the qualification applicant database, it is determined that the applicant's job qualification conditions are met.

4. The method according to claim 2, characterized in that Verify whether the individual operating conditions are met based on the substation operating area, including: According to the substation operation area, query the current operation task set; If the substation operation area does not hit any current operation area in all current operation tasks, it is determined that the independent operation condition is met.

5. The method according to claim 2, characterized in that Verify whether the operating environment conditions are met based on the operating time, including: Determine, based on the operation time, an operation time range that matches the automatic patrol operation task of the UAV; Querying a real-time weather database to obtain weather query results that match the operation time range; If it is determined that the weather query result does not hit any no-fly weather state in the no-fly weather state set, it is determined that the operating environment condition is met.

6. The method according to claim 2, characterized in that Based on the identification information of the operating drone, verify whether the drone's safe working conditions are met, including: Sending a manual inspection command for the operation drone identification information to the operation applicant, so that the operation applicant can perform an appearance integrity inspection and installation correctness inspection on the target drone matching the operation drone identification information; If a detection pass response is received from the job applicant, it is determined that the drone safety working conditions are met.

7. A control device for automatic patrol operation of a UAV, characterized in that: include: The operation task acquisition module is used to obtain the drone automatic patrol operation tasks reported by the operation applicant; A key information identification module is used to extract applicant identification information, substation operation area, operation time and operation drone identification information in the drone automatic patrol operation task; A task execution permission condition verification module is used to verify whether the UAV automatic patrol operation task meets the task execution permission condition based on the applicant identification information, substation operation area, operation time and operation UAV identification information; A patrol operation route sending module is used to obtain a patrol operation route that matches the substation operation area, and send the patrol operation route to a target drone that matches the operating drone identification information, so as to instruct the target drone to perform an automatic patrol operation task along the patrol operation route; The patrol operation route sending module specifically includes: a target planning route acquisition unit, which is used to obtain the target planning route uploaded by the route planner for the target substation operation area; a safety distance condition verification unit, which is used to verify whether the target planning route meets the safety distance condition based on the distance relationship between each route point in the target planning route and each substation equipment in the target substation operation area; if so, the target planning route is provided to at least two reviewers for backup review, and if the at least two reviewers both confirm the accuracy of the target planning route, the backup review pass response of the target planning route is determined; when the backup review pass response is detected, the target planning route is sent to the tester for on-site testing; if it is determined that the target planning route passes the on-site test, the target planning route is stored as a patrol operation route corresponding to the target substation operation area.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method for automatic patrol operations of a drone according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method for automatic patrol operations of a drone according to any one of claims 1 to 6 when executed.

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