Unmanned aerial vehicle re-inspection method, unmanned aerial vehicle and storage medium

Abstract

The application relates to the technical field of unmanned aerial vehicles, and provides an unmanned aerial vehicle re-inspection method, an unmanned aerial vehicle and a storage medium. First, an interactive operation instruction of a user is received, and in response to the interactive operation instruction, a target point to be re-inspected on an inspection object is determined; then, target pose information of an unmanned aerial vehicle associated with the target point is determined, and the unmanned aerial vehicle is controlled to re-inspect the target point based on the target pose information. The method discards the scheme of continuously comparing and determining the detection position of the abnormal point during re-inspection in the prior art, and directly determines the target point to be re-inspected through the interactive operation of the user, and determines the target pose information of the unmanned aerial vehicle associated with the target point, so that the target pose information of the unmanned aerial vehicle can be quickly determined, re-inspection is facilitated, the re-inspection efficiency is improved, the target point can be quickly re-inspected, and timely confirmation and maintenance of the abnormal point are facilitated.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV re-inspection method, a UAV, and a storage medium. Background Technology

[0002] Currently, drones are widely used for the inspection of power lines, large equipment, and other objects.

[0003] Existing drone inspection processes typically include two stages: initial inspection and re-inspection. The re-inspection involves the drone re-detecting anomalies identified during the initial inspection. During the re-inspection, the drone flies along the route taken during the initial inspection and compares the captured real-time footage with the target area selected by the maintenance personnel to determine if the target area appears in the real-time footage. If the target area appears in the real-time footage, the location where the footage was captured is determined as the detection location of the anomaly. Then, the anomaly is detected at this location.

[0004] However, this method of determining the location of anomalies during re-inspection through continuous comparison will greatly reduce the efficiency of re-inspection and is not conducive to the rapid detection and repair of anomalies. Summary of the Invention

[0005] This invention provides a method for re-inspecting unmanned aerial vehicles (UAVs), the UAV itself, and a storage medium, in order to address the deficiencies in the existing technology.

[0006] This invention provides a method for re-inspecting unmanned aerial vehicles (UAVs), comprising:

[0007] Receive user interaction operation instructions and respond to the interaction operation instructions to determine the target points to be re-inspected on the inspection object;

[0008] The target pose information of the UAV associated with the target point is determined, and based on the target pose information, the UAV is controlled to re-inspect the target point.

[0009] According to a UAV re-inspection method provided by the present invention, the interactive operation command is a user's selection command for the target image corresponding to the displayed target point; the target image is a target anomaly image captured by the acoustic imaging component carried by the UAV during the inspection process or a target video frame in the inspection video.

[0010] The abnormal point images captured by the acoustic imaging component are associated with the pose information of the UAV when the abnormal point images are captured, and each video frame in the inspection video is associated with the pose information of the UAV at the corresponding time.

[0011] According to a UAV re-inspection method provided by the present invention, the target anomaly point image is specifically captured by the acoustic imaging component after sending an anomaly detection signal during the UAV inspection process; the anomaly point image, the anomaly detection signal, and the pose information of the UAV when the anomaly point image is captured are associated.

[0012] The target image is the target anomaly image. Based on the target pose information, the UAV is controlled to re-inspect the target points, including:

[0013] Determine the target anomaly detection signal associated with the target image;

[0014] Based on the target pose information and the target anomaly detection signal, the UAV is controlled to re-inspect the target location.

[0015] According to a UAV re-inspection method provided by the present invention, the target anomaly detection signal includes the azimuth information of the target point, and the target pose information includes the target position and target attitude of the UAV;

[0016] Based on the target pose information and the target anomaly detection signal, the UAV is controlled to re-inspect the target location, including:

[0017] Based on the azimuth information, the target position is updated to obtain the updated position, and the UAV is controlled to fly to the updated position. At the updated position, the attitude is adjusted to the target attitude, and the target position is re-inspected.

[0018] According to a UAV re-inspection method provided by the present invention, the target anomaly detection signal includes the azimuth information of the target point, and the target pose information includes the target position and target attitude of the UAV;

[0019] Based on the target pose information and the target anomaly detection signal, controlling the UAV to re-inspect the target location also includes:

[0020] Control the drone to fly to the target location, and at the target location, adjust its attitude to the target attitude to re-inspect the target point;

[0021] If a location update command is received, the target location is updated based on the orientation information, the updated location is determined, the UAV is controlled to fly to the updated location, and the target point is re-inspected at the updated location in the target attitude.

[0022] Alternatively, if a location update command is received, the location update command is sent to the UAV, so that after receiving the location update command, the UAV updates the target location based on the orientation information, determines the updated location, flies to the updated location, and re-inspects the target point at the updated location in the target attitude.

[0023] According to a UAV re-inspection method provided by the present invention, the step of receiving the user's interactive operation command includes:

[0024] During the UAV inspection process, if the UAV receives an anomaly detection signal sent by the acoustic imaging component and controls the acoustic imaging component to capture an anomaly point image, then the image identifier of the anomaly point image and the pose information of the UAV when capturing the anomaly point image are obtained, and the image identifier of the anomaly point image, the anomaly detection signal, and the pose information of the UAV when capturing the anomaly point image are associated and stored; or, through the acoustic imaging component, the image identifier of the anomaly point image, the anomaly detection signal, and the pose information of the UAV when capturing the anomaly point image are associated and stored.

[0025] According to the present invention, a method for re-inspecting a UAV is provided, wherein the target points include multiple points, and the target pose information includes the target position and target pose of the UAV;

[0026] Based on the target pose information, the UAV is controlled to re-inspect the target location, including:

[0027] Based on the interactive operation sequence corresponding to each target point or the target location associated with each target point, the re-inspection sequence of each target point is determined, and based on the re-inspection sequence, the UAV is controlled to re-inspect each target point in sequence.

[0028] According to a method for re-inspecting a drone provided by the present invention, the acoustic imaging component or the drone is equipped with a visual indication unit;

[0029] When controlling the UAV to re-inspect the target location based on the target pose information, the method further includes: controlling the vision indication unit to emit a laser towards the target location.

[0030] The present invention also provides a method for re-inspecting unmanned aerial vehicles, comprising:

[0031] Receive a re-inspection instruction and, in response to the re-inspection instruction, determine the target pose information for the re-inspection, wherein the target pose information is associated with the target point to be re-inspected on the inspection object;

[0032] Based on the target pose information, the target point is re-inspected.

[0033] The present invention also provides a drone, comprising: a drone body, a remote control device, and an acoustic imaging component mounted on the drone body; the drone body is communicatively connected to the remote control device and the acoustic imaging component, respectively; the remote control device and the acoustic imaging component are communicatively connected.

[0034] The remote control device is used to control the UAV to inspect the object being inspected and to display the identification information of each point on the object being inspected during the inspection process; the remote control device is also used to execute the above-mentioned UAV re-inspection method.

[0035] The drone body is used to perform the aforementioned drone re-inspection method.

[0036] According to the present invention, the acoustic imaging component is further used to collect acoustic signals along the inspection path during the inspection of the drone body, and to send an abnormality detection signal to the drone body when the acoustic signal is abnormal.

[0037] The UAV body or the remote control device is also used to control the acoustic imaging component to capture inspection video during the UAV inspection process and send the inspection video to the remote control device; and / or, when the abnormality detection signal is received, control the acoustic imaging component to capture abnormal point images and send the abnormal point images to the remote control device.

[0038] The remote control device is also used to use each video frame in the inspection video as the identification information of the point that the acoustic imaging component is facing at the corresponding time, and the abnormal point image as the identification information of the point that the acoustic imaging component is facing when the image is captured.

[0039] According to a drone provided by the present invention, the remote control device is equipped with a display module for displaying the inspection video or the abnormal point image to the user, so that the user can select the target image corresponding to the target point to be re-inspected on the inspection object from the inspection video or the abnormal point image.

[0040] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the UAV re-inspection method as described above.

[0041] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the UAV re-inspection method as described above.

[0042] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the UAV re-inspection method as described above.

[0043] The present invention provides a method for re-inspecting unmanned aerial vehicles (UAVs), the UAV itself, and a storage medium. The method first receives an interactive operation command from a user and, in response to the command, determines the target point to be re-inspected on the inspection object. Then, it determines the target pose information of the UAV associated with the target point and, based on this information, controls the UAV to re-inspect the target point. This method abandons the existing approach of continuously comparing and determining the detection location of abnormal points during re-inspection. Instead, it directly determines the target point to be re-inspected through user interaction and uses the target point to determine the associated UAV's target pose information. This enables rapid determination of the UAV's target pose information, facilitating re-inspection, improving efficiency, and enabling rapid re-inspection of target points. It also helps in the timely confirmation and repair of abnormal points. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on the drawings described below without creative effort.

[0045] Figure 1 This is one of the flowcharts of the UAV re-inspection method provided by the present invention;

[0046] Figure 2 This is a schematic diagram of a scenario in the UAV re-inspection method provided by the present invention, where the UAV re-inspects the inspection object.

[0047] Figure 3 This is a flowchart illustrating the inspection process in the UAV re-inspection method provided by the present invention;

[0048] Figure 4 This is a flowchart illustrating the re-inspection process in the UAV re-inspection method provided by the present invention;

[0049] Figure 5 This is the second flowchart of the UAV re-inspection method provided by the present invention;

[0050] Figure 6 This is one of the structural schematic diagrams of the UAV re-inspection device provided by the present invention;

[0051] Figure 7 This is the second structural schematic diagram of the UAV re-inspection device provided by the present invention;

[0052] Figure 8This is one of the structural schematic diagrams of the UAV provided by the present invention;

[0053] Figure 9 This is the second structural schematic diagram of the UAV provided by the present invention;

[0054] Figure 10 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0056] The terms "first" and "second" in the specification and claims of this invention may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0057] In existing technologies, UAV re-inspection requires constantly comparing real-time images with the target area to determine the inspection location, which significantly reduces inspection efficiency and hinders the rapid detection and repair of anomalies. Therefore, this invention provides a UAV re-inspection method.

[0058] Figure 1 This is a flowchart illustrating a UAV re-inspection method provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes:

[0059] S11, Receive the user's interactive operation instruction, and in response to the interactive operation instruction, determine the target point to be re-inspected on the inspection object;

[0060] S12, determine the target pose information of the UAV associated with the target point, and control the UAV to re-inspect the target point based on the target pose information.

[0061] Specifically, the drone re-inspection method provided in this embodiment of the invention can be executed by a drone remote control device. The remote control device can be either the remote control terminal corresponding to the drone or an application installed on a mobile terminal, without any specific limitation here.

[0062] First, step S11 is executed. The remote control device can interact with the user, receive the user's interactive operation commands, and respond to the commands to determine the target points on the inspected object to be re-inspected. Here, the user can be an inspection personnel or other personnel. The inspected object can be an overhead high-voltage line, a gas storage tank, a wind turbine nacelle, or other types of objects; no specific limitations are made here.

[0063] The remote control device can be equipped with a display module, through which users can view the identification information of each point on the inspected object. This identification information can be an image taken by the image acquisition device mounted on the drone during the drone inspection, pointing towards the point, or it can be descriptive information, labels, etc., of each point determined during the drone inspection.

[0064] The interactive operation command can be generated by the user interacting with the display module. This interactive operation can be a click, a selection, etc. The user selects the identifier information of a target point through the interactive operation, and the remote control device, by responding to the interactive operation command, can determine the target point corresponding to the user's interaction.

[0065] Then, step S12 is executed to determine the target pose information of the UAV associated with the target point. This target pose information is the pose information of the UAV when the image acquisition device faces the target point during the inspection process, and may include the target position and the target attitude.

[0066] Here, during the drone inspection process, the identification information of each point on the inspection target and the drone's pose information when the image acquisition device is facing each point can be associated and stored. Then, when determining a target point, its associated pose information can be determined through the target point's identification information. The drone's pose information when the image acquisition device is facing each point can include the drone's position and attitude information. The position information can be obtained through a positioning device configured on the drone, such as a Global Positioning System (GPS) or other device with positioning capabilities. The attitude information can be obtained, for example, through attitude sensors configured on the drone.

[0067] Subsequently, the remote control device can send the target pose information to the drone to control the drone to re-inspect the target location. After receiving the target pose information, the drone can first fly to the target location and adjust its attitude to the target pose. Then, the drone can capture real-time images of the target location and send these images to the remote control device for display to the user. The drone can also capture re-inspection images of the target location and send these re-inspection images to the remote control device for display to the user.

[0068] like Figure 2As shown, after the UAV 1 is adjusted to the target position, it performs a re-inspection of the inspection object 2 in the target attitude. Figure 2 In the process, the inspection target 2 is a large piece of equipment, and the drone 1 conducts a re-inspection from diagonally above the inspection target 2.

[0069] The UAV re-inspection method provided in this embodiment of the invention first receives an interactive operation command from a user and, in response to the command, determines the target point to be re-inspected on the inspection object. Then, it determines the target pose information of the UAV associated with the target point and, based on the target pose information, controls the UAV to re-inspect the target point. This method abandons the existing approach of continuously comparing and determining the detection location of abnormal points during re-inspection. Instead, it directly determines the target point to be re-inspected through user interaction and uses the target point to determine the target pose information of the associated UAV. This enables rapid determination of the UAV's target pose information, facilitating re-inspection, improving re-inspection efficiency, and enabling rapid re-inspection of target points. It also helps in the timely confirmation and repair of abnormal points.

[0070] Based on the above embodiments, the UAV re-inspection method provided in this embodiment of the invention includes an interactive operation instruction that is a user's selection instruction for the target image corresponding to the displayed target point; the target image is a target anomaly image captured by the acoustic imaging component carried by the UAV during the inspection process or a target video frame in the inspection video.

[0071] The abnormal point images captured by the acoustic imaging component are associated with the pose information of the UAV when the abnormal point images are captured, and each video frame in the inspection video is associated with the pose information of the UAV at the corresponding time.

[0072] Specifically, the identification information of the target point can be the target image captured by the image acquisition device when it is facing the target point during the inspection process. At this time, the user's interactive operation command is the user's selection command for the target image corresponding to the displayed target point.

[0073] The image acquisition device carried on the drone can be an acoustic imaging component. The drone can communicate with both the remote control device and the acoustic imaging component, and the acoustic imaging component can also communicate with the remote control device. The acoustic imaging component can have only image or video capture and transmission functions, control signal reception functions, etc., or it can have built-in sound source localization and imaging algorithms to display the distribution of sound sources in space in real time in the form of a heat map. It has functions such as partial discharge recognition, gas leak detection, and abnormal noise localization, and can be used for indoor and outdoor online sound monitoring in industrial scenarios such as substations, chemical plants, and wind turbine nacelles.

[0074] By mounting acoustic imaging components on drones and combining them with remote control equipment, it is possible to inspect objects such as high-voltage lines in mid-air, gas tanks, and wind turbine nacelles. This includes routine and fixed-point inspections to determine whether there is partial discharge in high-voltage lines in mid-air, inspections to determine whether there is gas leakage in gas tanks and to locate the leakage point, and inspections to determine whether there is abnormal noise in wind turbine nacelles and to locate the abnormal noise point.

[0075] During drone inspections, the drone can control its acoustic imaging component to capture inspection video and send it to the remote control device. Alternatively, it can control the acoustic imaging component to capture images of abnormal points upon receiving abnormal acoustic signals and send these images to the remote control device. Here, the abnormal point image refers to the image of the abnormal point emitting the abnormal acoustic signal. The acoustic imaging component can directly send the inspection video and abnormal point images to the remote control device, or the drone can transmit the inspection video and abnormal point images to the remote control device, allowing the remote control device to store the inspection video and abnormal point images.

[0076] Each video frame in the inspection video corresponds to a point, which can be the point on the inspection object that the acoustic imaging component is facing at the corresponding moment of the video frame. Each abnormal point image corresponds to a point, which can be the point on the inspection object that the acoustic imaging component is facing when taking the picture.

[0077] The drone can send its own pose information at each video frame in the inspection video and its own pose information when the acoustic imaging component captures images of abnormal points to the remote control device, or it can send the pose information to the acoustic imaging component.

[0078] If the drone sends its own pose information at the corresponding moment for each video frame in the inspection video to the remote control device, then after receiving the inspection video and the drone's pose information at the corresponding moment for each video frame, the remote control device associates and stores the image identifier of each video frame with the drone's pose information at the corresponding moment. The storage location can be the remote control device's database. At this time, the remote control device's database stores the association relationship between each video frame in the inspection video and the drone's pose information.

[0079] If the drone sends its own pose information when the acoustic imaging component captures an anomaly image to the remote control device, the remote control device, upon receiving the anomaly image and the drone's pose information at the time of capture, will associate and store the image identifier of the anomaly image with the drone's pose information. This storage location can also be the remote control device's database. In this case, the remote control device's database stores the association between the anomaly image and the drone's pose information.

[0080] If the UAV sends its own pose information for each video frame in the inspection video to the acoustic imaging component, the acoustic imaging component, upon receiving the UAV's pose information, can associate and store the image identifier of each video frame with the corresponding UAV pose information. This storage location can be the acoustic imaging component's database. At this point, the acoustic imaging component's database stores the association between each video frame and the UAV's pose information.

[0081] If the drone sends its own pose information to the acoustic imaging component when it captures images of anomalies, the acoustic imaging component, upon receiving the drone's pose information, can associate and store the image identifier of the captured anomaly image with the drone's pose information at the time of capture. This storage location can be the acoustic imaging component's database. In this case, the acoustic imaging component's database stores the association between the anomaly images and the drone's pose information.

[0082] Understandably, the display module of the remote control device can show the user inspection video and all abnormal point images, so that the user can select the target video frame in the inspection video or one or more target abnormal point images in the abnormal point images as the basis for re-inspection.

[0083] Therefore, the target image corresponding to the target location can be either an image of the target anomaly point captured by the acoustic imaging component carried by the UAV during the inspection, or a target video frame in the inspection video. When the target image is an image of the target anomaly point, it indicates that the target location is an anomaly point. When the target image is a target video frame, the target location may or may not be an anomaly point.

[0084] Furthermore, if the remote control device's database stores the correlation between anomaly images and the drone's pose information, and the correlation between each video frame in the inspection video and the drone's pose information, then the remote control device can directly retrieve the target pose information from the database using the image identifier of the target image. Similarly, if the acoustic imaging component's database stores the correlation between anomaly images and the drone's pose information, and the correlation between each video frame in the inspection video and the drone's pose information, the remote control device can obtain the target pose information by accessing the acoustic imaging component's database using the image identifier of the target image.

[0085] In this embodiment of the invention, by showing the user the images corresponding to each point and using the user's selection method to determine the target point, the user can more intuitively observe the situation of each point and thus quickly determine the target point.

[0086] Based on the above embodiments, the UAV re-inspection method provided in this embodiment of the invention specifically obtains the target anomaly point image by the acoustic imaging component after sending an anomaly detection signal during the UAV inspection process; the anomaly point image, the anomaly detection signal, and the pose information of the UAV when the anomaly point image is captured are associated.

[0087] The target image is the target anomaly image. Based on the target pose information, the UAV is controlled to re-inspect the target points, including:

[0088] Determine the target anomaly detection signal associated with the target anomaly point image;

[0089] Based on the target pose information and the target anomaly detection signal, the UAV is controlled to re-inspect the target location.

[0090] Specifically, in this embodiment of the invention, the target anomaly image is an anomaly image captured by the acoustic imaging component after sending an anomaly detection signal during the UAV inspection process. It can be captured immediately after the acoustic imaging component sends the anomaly detection signal to the UAV and / or remote control device, or it can be captured after receiving an image capture command sent by the UAV or remote control device based on the anomaly detection signal.

[0091] Here, during the drone inspection process, the acoustic imaging component can generate an anomaly detection signal upon receiving an abnormal acoustic signal and send it to the drone, the remote control device, or both simultaneously. Upon receiving the anomaly detection signal, the drone or remote control device can send an image capture command to the acoustic imaging component, which then captures an image of the anomaly point. Alternatively, the acoustic imaging component can directly capture an image of the anomaly point after sending the anomaly detection signal.

[0092] Here, since the acoustic imaging component can transmit the captured real-time image to the remote control device for display, the user can determine whether it is necessary to capture images of abnormal points based on the real-time image. This can avoid capturing useless images of abnormal points and reduce the shooting pressure on the acoustic imaging component.

[0093] It is understood that the anomaly detection signal may include the orientation and distance information of the anomaly point relative to the acoustic imaging component, and the orientation information may include direction and angle.

[0094] Based on this, anomaly images, anomaly detection signals, and the UAV's pose information when capturing anomaly images can also be correlated. This correlation can be stored either in the acoustic imaging component or in the remote control device; no specific limitation is made here. Within this correlation, anomaly images can be characterized using image identifiers.

[0095] Furthermore, when the remote control device controls the drone to re-inspect the target anomaly point corresponding to the target anomaly point image, it can first determine the target anomaly detection signal associated with the target anomaly point image. For example, if the relationship between the above three is stored in the remote control device, the remote control device can directly determine the target anomaly detection signal associated with the target image identifier from the stored relationship between the above three based on the target image identifier of the target anomaly point image.

[0096] If the relationship between the above three is stored in the acoustic imaging component, the remote control device can send the target image identifier of the target anomaly point image to the acoustic imaging component to trigger the acoustic imaging component to determine the target anomaly detection signal associated with the target image identifier from the stored relationship between the above three through the target image identifier, and send the target anomaly detection signal to the remote control device.

[0097] Subsequently, the remote control device can use the target pose information and the target anomaly detection signal to control the UAV to re-inspect the target location. Specifically, the remote control device can use the azimuth and distance information from the target anomaly detection signal to update the target pose information, obtaining updated pose information. The updated pose information can include the updated position and attitude. Then, the updated pose information can be sent to the UAV to control the UAV to re-inspect the target anomaly points corresponding to the target anomaly point image.

[0098] After receiving the updated pose information, the drone can fly to the updated location and adjust its attitude to the updated position.

[0099] In this embodiment of the invention, by combining target pose information and target anomaly detection signals, the UAV is controlled to re-inspect the target location, which can make the re-inspection location more consistent with the actual situation and more accurate.

[0100] Based on the above embodiments, the UAV re-inspection method provided in this embodiment of the invention includes the target anomaly detection signal including the azimuth information of the target point, and the target pose information including the target position and target pose of the UAV.

[0101] Based on the target pose information and the target anomaly detection signal, the UAV is controlled to re-inspect the target location, including:

[0102] Based on the azimuth information, the target position is updated to obtain the updated position, and the UAV is controlled to fly to the updated position. At the updated position, the attitude is adjusted to the target attitude, and the target position is re-inspected.

[0103] Specifically, during the re-inspection, the target position can be updated using the azimuth information to obtain the updated position. For example, the distance between the target position and the target point can be increased or decreased along the azimuth information to obtain the updated position. The updated position, the target position, and the target point are on the same straight line, thus ensuring that the real-time image during the re-inspection is at the same angle as the real-time image of the target point during the UAV inspection.

[0104] Increasing the distance between the target location and the target point provides a wider real-time view during re-inspection, making it easier to determine the surrounding environment of the target point. Conversely, shortening the distance increases the area occupied by the target point in the real-time view, allowing for more accurate positioning. During this process, the target's pose is not updated, thus preventing situations where the target point is not visible in the real-time view or is located at the edge of the view due to pose adjustments during re-inspection, which aids in subsequent user judgment.

[0105] Afterward, the updated position and target attitude are sent to the drone. The drone then flies to the updated position and adjusts its attitude to the target attitude to re-inspect the target location.

[0106] In this embodiment of the invention, the target position is updated using the azimuth information in the target anomaly detection signal, without updating the target attitude. This satisfies the need for re-inspection at different locations from the initial inspection, and also avoids situations where the target point does not appear in the real-time image or is located at the edge of the real-time image due to attitude adjustment during re-inspection, thus providing a more accurate and powerful basis for the user's subsequent judgment.

[0107] Based on the above embodiments, the UAV re-inspection method provided in this embodiment of the invention includes the target anomaly detection signal including the azimuth information of the target point, and the target pose information including the target position and target pose of the UAV.

[0108] Based on the target pose information and the target anomaly detection signal, controlling the UAV to re-inspect the target location also includes:

[0109] Control the drone to fly to the target location, and at the target location, adjust its attitude to the target attitude to re-inspect the target point;

[0110] If a location update command is received, the target location is updated based on the orientation information, the updated location is determined, the UAV is controlled to fly to the updated location, and the target point is re-inspected at the updated location in the target attitude.

[0111] Alternatively, if a location update command is received, the location update command is sent to the UAV, so that after receiving the location update command, the UAV updates the target location based on the orientation information, determines the updated location, flies to the updated location, and re-inspects the target point at the updated location in the target attitude.

[0112] Specifically, during the re-inspection, the target position and target attitude can be sent to the drone first, so that the drone can be directly controlled to fly to the target position, and at the target position, the attitude can be adjusted to the target attitude, and then the target point can be re-inspected.

[0113] Afterward, the user can update the drone's target location as needed by operating the remote control device. The remote control device can be equipped with a touchscreen or an update button. The user sends a location update command to the remote control device by tapping the touchscreen or pressing the update button. This location update command can carry the specific method of location update, such as bringing the drone closer to the target location or increasing the distance between the drone and the target location.

[0114] After receiving the position update command, the remote control terminal can use the azimuth information in the target anomaly detection signal to update the target position and determine the updated position. This ensures that the updated position, the target position, and the target point are on the same straight line, thus making the real-time image during the re-inspection the same angle as the real-time image of the target point during the UAV inspection.

[0115] Afterward, the remote control device sends the updated location to the drone to control the drone to fly to the updated location, and then re-inspects the target point in the target attitude at the updated location.

[0116] On the other hand, the remote control device can also directly send the received position update command to the drone. After receiving the position update command, the drone can use the azimuth information in the target anomaly detection signal to update the target position and determine the updated position. It then flies to the updated position and re-checks the target location in the target attitude. The only difference between this scheme and the one described above is whether the target position is updated by the remote control or by the drone.

[0117] In this embodiment of the invention, the remote control terminal or the drone does not directly use the orientation information to determine the updated position. Instead, the drone first re-examines the target pose information and then introduces a position update command. The target position is only updated after the remote control terminal or the drone receives the position update command. This allows the position of the drone to meet the user's requirements during the re-examination, making the real-time image during the re-examination more in line with the user's needs, thereby facilitating the user's subsequent processing and improving the user experience.

[0118] Based on the above embodiments, the UAV re-inspection method provided in this embodiment of the invention includes, before receiving the user's interactive operation command, the following:

[0119] During the UAV inspection process, if the UAV receives an anomaly detection signal sent by the acoustic imaging component and controls the acoustic imaging component to capture an anomaly point image, then the image identifier of the anomaly point image and the pose information of the UAV when capturing the anomaly point image are obtained, and the image identifier of the anomaly point image, the anomaly detection signal, and the pose information of the UAV when capturing the anomaly point image are associated and stored; or, through the acoustic imaging component, the image identifier of the anomaly point image, the anomaly detection signal, and the pose information of the UAV when capturing the anomaly point image are associated and stored.

[0120] Specifically, before receiving user interaction commands, i.e. during drone inspection, if the drone receives an anomaly detection signal generated and sent by the acoustic imaging component after detecting an abnormal acoustic signal, and after controlling the acoustic imaging component to capture an image of the anomaly point, the remote control device obtains the image identifier of the anomaly point image and the drone's pose information when capturing the anomaly point image, and then associates and stores the image identifier of the anomaly point image, the anomaly detection signal, and the drone's pose information when capturing the anomaly point image.

[0121] Alternatively, the remote control device can send the drone's pose information when the acoustic imaging component captures images of abnormal points to the acoustic imaging component. The acoustic imaging component can then associate and store the image identifier of the abnormal point image, the anomaly detection signal, and the drone's pose information when the abnormal point image is captured.

[0122] In this embodiment of the invention, using a remote control device to associate and store the above three types of information allows the remote control device to perform global control of the drone, grasp all relevant information, and avoid occupying a large amount of memory in the acoustic imaging component due to associating and storing the above three types of information, thus reducing the memory requirements of the acoustic imaging component and saving costs. Furthermore, using the acoustic imaging component to associate and store the above three types of information achieves the separation of information storage and control functions, better protects data security and privacy, and better adapts to different control and storage needs.

[0123] Based on the above embodiments, the UAV re-inspection method provided in this embodiment of the invention includes multiple target points, and the target pose information includes the target position and target pose of the UAV.

[0124] Based on the target pose information, the UAV is controlled to re-inspect the target location, including:

[0125] Based on the interactive operation sequence corresponding to each target point or the target location associated with each target point, the re-inspection sequence of each target point is determined, and based on the re-inspection sequence, the UAV is controlled to re-inspect each target point in sequence.

[0126] Specifically, the target points involved in the user's interactive operation instructions may include multiple points. For example, the user may select multiple target images. During the re-inspection process, the remote control device can determine the re-inspection order of each target point by utilizing the selection order of each target point or the target location associated with each target point.

[0127] The selection order can be the order in which the user selects each target image on the remote control device. The re-inspection order of each target point can be either the selection order or, based on the relative positional relationship between the target locations associated with each target image, path planning can be performed on each target location to determine the re-inspection order of each target point, so that the re-inspection can be performed in this re-inspection order to minimize the re-inspection time or the flight distance of the UAV.

[0128] Afterwards, the obtained re-inspection sequence can be sent to the drone, which can then use this re-inspection sequence to re-inspect each target point in sequence. That is, at each target location, the acoustic imaging component is controlled to capture real-time images and images of abnormal points according to the corresponding target pose.

[0129] In this embodiment of the invention, when there are multiple target points, a re-inspection sequence is introduced to ensure the orderly conduct of the re-inspection process and prevent the re-inspection of each target point from conflicting with each other.

[0130] Based on the above embodiments, the UAV re-inspection method provided in this embodiment of the invention includes an acoustic imaging component or a visual indication unit configured on the UAV.

[0131] When controlling the UAV to re-inspect the target location based on the target pose information, the method further includes: controlling the vision indication unit to emit a laser towards the target location.

[0132] Specifically, a visual indication unit, such as a laser pointer, can also be configured on the acoustic imaging component or the drone. This visual indication unit can communicate with a remote control device.

[0133] When the drone is re-inspecting the target location, the remote control device can send control commands to the vision indication unit, so that the vision indication unit can emit lasers towards the target location after receiving the control commands, so as to indicate the location of the target to the user. In this way, the user can quickly identify the specific location of the target location.

[0134] Figure 3 This is a flowchart illustrating the drone inspection process in an embodiment of the present invention, including:

[0135] During drone inspection, the acoustic imaging component received an abnormal acoustic signal;

[0136] The acoustic imaging component captures images of abnormal points;

[0137] Image identifiers of anomaly images, along with the drone's position and attitude information when the acoustic imaging component captured the anomaly images, are stored in the database.

[0138] Figure 4 This is a flowchart illustrating the re-inspection process in an embodiment of the present invention, including:

[0139] Users can view images of various anomalies or inspection videos captured by the acoustic imaging component.

[0140] The user confirms and selects the target image corresponding to the target point that needs to be re-examined. The target image can be a target anomaly image or a target video frame.

[0141] Using the target image identifier, the location and attitude information of the associated UAV are obtained from the database;

[0142] Drones can directly use position and attitude information to re-inspect target locations, or they can use updated position and attitude information to re-inspect target locations.

[0143] like Figure 5 As shown, based on the above embodiments, this embodiment of the invention also provides a method for re-inspecting unmanned aerial vehicles (UAVs), including:

[0144] S21, receive a re-inspection instruction, and in response to the re-inspection instruction, determine the target pose information during the re-inspection, wherein the target pose information is associated with the target point to be re-inspected on the inspection object;

[0145] S22, Based on the target pose information, the target point is re-inspected.

[0146] Specifically, the drone re-inspection method provided in this embodiment of the invention can be performed by a drone.

[0147] First, step S21 is executed, where the UAV receives a re-inspection command sent by the remote control device. This re-inspection command can carry the target pose information that the UAV needs to achieve during the re-inspection. The UAV obtains the target pose information by responding to the re-inspection command.

[0148] The target pose information may include the target position and the target attitude, which may be determined by the remote control device through the above-described method implementation with the remote control device as the execution subject, and will not be described again here.

[0149] Then, in step S22, the UAV uses the target pose information to re-inspect the target location. The UAV can first fly to the target location and adjust its attitude to the target attitude. Then, the UAV can capture real-time images of the target location and send these images to the remote control device for display to the user. The UAV can also capture re-inspection images of the target location and send these re-inspection images to the remote control device for display to the user.

[0150] The UAV re-inspection method provided in this embodiment of the invention allows the UAV to directly receive the target pose information and smoothly reach the re-inspection location to perform re-inspection of the target point. It does not require continuous flight to determine the re-inspection location of abnormal points through comparison, which can improve the re-inspection efficiency, realize the rapid re-inspection of the target point, and help the timely confirmation and repair of abnormal points.

[0151] like Figure 6 As shown, based on the above embodiments, this embodiment of the invention also provides a UAV re-inspection device, including:

[0152] The first receiving module 61 is used to receive the user's interactive operation command and, in response to the interactive operation command, determine the target point to be re-inspected on the inspection object.

[0153] The control module 62 is used to determine the target pose information of the UAV associated with the target point, and control the UAV to re-inspect the target point based on the target pose information.

[0154] Based on the above embodiments, the UAV re-inspection device provided in this embodiment of the invention includes an interactive operation instruction that is a user's selection instruction for the target image corresponding to the displayed target point; the target image is a target anomaly image captured by the acoustic imaging component carried by the UAV during the inspection process or a target video frame in the inspection video.

[0155] The abnormal point images captured by the acoustic imaging component are associated with the pose information of the UAV when the abnormal point images are captured, and each video frame in the inspection video is associated with the pose information of the UAV at the corresponding time.

[0156] Based on the above embodiments, the UAV re-inspection device provided in this embodiment of the invention specifically obtains the target anomaly point image by the acoustic imaging component after sending an anomaly detection signal during the UAV inspection process; the anomaly point image, the anomaly detection signal, and the pose information of the UAV when the anomaly point image is captured are associated.

[0157] The target image is the target anomaly point image, and the control module is specifically used for:

[0158] Determine the target anomaly detection signal associated with the target image;

[0159] Based on the target pose information and the target anomaly detection signal, the UAV is controlled to re-inspect the target location.

[0160] Based on the above embodiments, the UAV re-inspection device provided in this embodiment of the invention includes the target anomaly detection signal including the azimuth information of the target point, and the target pose information including the target position and target pose of the UAV.

[0161] The control module is also specifically used for:

[0162] Based on the azimuth information, the target position is updated to obtain the updated position, and the UAV is controlled to fly to the updated position. At the updated position, the attitude is adjusted to the target attitude, and the target position is re-inspected.

[0163] Based on the above embodiments, the UAV re-inspection device provided in this embodiment of the invention includes the target anomaly detection signal including the azimuth information of the target point, and the target pose information including the target position and target pose of the UAV.

[0164] The control module is also specifically used for:

[0165] Control the drone to fly to the target location, and at the target location, adjust its attitude to the target attitude to re-inspect the target point;

[0166] If a location update command is received, the target location is updated based on the orientation information, the updated location is determined, the UAV is controlled to fly to the updated location, and the target anomaly point is re-inspected at the updated location in the target attitude.

[0167] Alternatively, if a location update command is received, the location update command is sent to the UAV, so that after receiving the location update command, the UAV updates the target location based on the orientation information, determines the updated location, flies to the updated location, and re-inspects the target point at the updated location in the target attitude.

[0168] Based on the above embodiments, the UAV re-inspection device provided in this embodiment of the invention further includes an associated storage module, used for:

[0169] During the UAV inspection process, if the UAV receives an anomaly detection signal sent by the acoustic imaging component and controls the acoustic imaging component to capture an anomaly point image, then the image identifier of the anomaly point image and the pose information of the UAV when capturing the anomaly point image are obtained, and the image identifier of the anomaly point image, the anomaly detection signal, and the pose information of the UAV when capturing the anomaly point image are associated and stored; or, through the acoustic imaging component, the image identifier of the anomaly point image, the anomaly detection signal, and the pose information of the UAV when capturing the anomaly point image are associated and stored.

[0170] Based on the above embodiments, the UAV re-inspection device provided in this embodiment of the invention includes multiple target points, and the target pose information includes the target position and target pose of the UAV.

[0171] The control module is also specifically used for:

[0172] Based on the interactive operation sequence corresponding to each target point or the target location associated with each target point, the re-inspection sequence of each target point is determined, and based on the re-inspection sequence, the UAV is controlled to re-inspect each target point in sequence.

[0173] Based on the above embodiments, the UAV re-inspection device provided in this embodiment of the invention includes an acoustic imaging component or a visual indication unit configured on the UAV.

[0174] The control module is also specifically used to: control the visual indication unit to emit laser light toward the target point.

[0175] Specifically, the functions of each module in the UAV re-inspection device provided in this embodiment of the invention correspond one-to-one with the operation flow of each step in the above-mentioned method embodiment with remote control device as the execution subject, and the achieved effect is also the same. For details, please refer to the above embodiments, and this will not be repeated in this embodiment of the invention.

[0176] like Figure 7 As shown, based on the above embodiments, this embodiment of the invention also provides a UAV re-inspection device, including:

[0177] The second receiving module 71 is used to receive a re-inspection instruction and, in response to the re-inspection instruction, determine the target pose information during the re-inspection, wherein the target pose information is associated with the target point to be re-inspected on the inspection object.

[0178] The re-inspection module 72 is used to re-inspect the target point based on the target pose information.

[0179] Specifically, the functions of each module in the UAV re-inspection device provided in this embodiment of the invention correspond one-to-one with the operation flow of each step in the above-mentioned method embodiment with UAV as the execution subject, and the achieved effect is also the same. For details, please refer to the above embodiments, and this will not be repeated in this embodiment of the invention.

[0180] like Figure 8 As shown, based on the above embodiments, this embodiment of the invention provides a drone, including: a drone body 81, a remote control device 82, and an acoustic imaging component 83 mounted on the drone body 81; the drone body 81 is communicatively connected to the remote control device 82 and the acoustic imaging component 83, respectively.

[0181] The remote control device 82 is used to control the UAV body 81 to inspect the object being inspected, and to display the identification information of each point on the object being inspected during the inspection process of the UAV body 81; the remote control device 82 is also used to execute the UAV re-inspection method provided in the above embodiments.

[0182] The UAV body 81 is used to perform the UAV re-inspection method provided in the above embodiments.

[0183] Specifically, in this embodiment of the invention, the drone body 81 refers to a drone without an acoustic imaging component. The drone body 81 can perform inspections under the control of the remote control device 82. These inspections can be autonomous or non-autonomous, and are not specifically limited here. During the inspection process, the remote control device 82 can display real-time images captured by the acoustic imaging component 83 to the user. At the end of the inspection, the remote control device 82 can summarize the inspection video or images of each anomaly and display them to the user, allowing the user to select target video frames or target anomaly images for re-inspection. After the user selects one or more target video frames or target anomaly images, an interactive operation command is triggered. The remote control device 82 can respond to the user's interactive operation command, determine the one or more target video frames or target anomaly images corresponding to the interactive operation command, and execute the drone re-inspection method provided in the above embodiments.

[0184] The drone provided in this embodiment of the invention can quickly reach the conditions required for re-inspection and shorten the entire inspection process. It can also quickly locate abnormal points, making it convenient for users to promptly investigate and repair abnormal points.

[0185] Based on the above embodiments, the drone provided in this embodiment of the invention is further equipped with an acoustic imaging component for collecting acoustic signals on the inspection path during the inspection of the drone body, and sending an abnormality detection signal to the drone body when the acoustic signal is abnormal.

[0186] The UAV body or the remote control device is also used to control the acoustic imaging component to capture inspection video during the UAV inspection process and send the inspection video to the remote control device; and / or, when the abnormality detection signal is received, control the acoustic imaging component to capture the abnormal point image and send the abnormal point image to the remote control device.

[0187] The remote control device is also used to use each video frame in the inspection video as the identification information of the point that the acoustic imaging component is facing at the corresponding time, and the abnormal point image as the identification information of the point that the acoustic imaging component is facing when the image is captured.

[0188] Specifically, the acoustic imaging component 83 can also collect acoustic signals along the inspection path of the UAV body 81, and send an anomaly detection signal to the UAV body 81 when the acoustic signal is abnormal. The UAV body 81 or the remote control device 82 is also used to control the acoustic imaging component 83 to capture an image of the abnormal point when the anomaly detection signal is received, and send the image of the abnormal point to the remote control device 83.

[0189] When the acoustic imaging component 83 is controlled by the remote control device 82, user operation can be introduced. That is, after receiving the user's shooting command, the remote control device 82 controls the acoustic imaging component 83 to capture images of abnormal points. This is because the acoustic imaging component 83 can transmit the captured real-time image to the remote control device 82 for display. The user can then determine whether it is necessary to capture images of abnormal points based on the real-time image, thus avoiding the capture of useless images of abnormal points and reducing the shooting burden on the acoustic imaging component 83.

[0190] like Figure 9 As shown, based on the above embodiments, the drone provided in this embodiment of the invention has a remote control device 82 equipped with a display module 84, which is used to display inspection videos or abnormal point images to the user, so that the user can select the target image corresponding to the target point to be re-inspected on the inspection object from the inspection videos or abnormal point images.

[0191] Figure 10 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 10As shown, the electronic device may include a processor 110, a communications interface 120, a memory 130, and a communication bus 140, wherein the processor 110, communications interface 120, and memory 130 communicate with each other via the communication bus 140. The processor 110 can call logical instructions in the memory 130 to execute the UAV re-inspection method provided in the above embodiments. This method includes: receiving an interactive operation instruction from a user, and in response to the interactive operation instruction, determining a target point to be re-inspected on an inspection object; determining the target pose information of the UAV associated with the target point, and controlling the UAV to re-inspect the target point based on the target pose information. Alternatively, it includes: receiving a re-inspection instruction, and in response to the re-inspection instruction, determining the target pose information at the time of re-inspection, the target pose information being associated with the target point to be re-inspected on an inspection object; and re-inspecting the target point based on the target pose information.

[0192] Furthermore, the logical instructions in the aforementioned memory 130 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0193] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the UAV re-inspection method provided in the above embodiments. The method includes: receiving an interactive operation command from a user, and in response to the interactive operation command, determining a target point to be re-inspected on an inspection object; determining the target pose information of the UAV associated with the target point, and controlling the UAV to re-inspect the target point based on the target pose information. Alternatively, it includes: receiving a re-inspection command, and in response to the re-inspection command, determining the target pose information at the time of re-inspection, wherein the target pose information is associated with the target point to be re-inspected on an inspection object; and re-inspecting the target point based on the target pose information.

[0194] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program is implemented to perform the UAV re-inspection method provided in the above embodiments. The method includes: receiving an interactive operation command from a user, and in response to the interactive operation command, determining a target point on an inspection object to be re-inspected; determining target pose information of a UAV associated with the target point, and controlling the UAV to re-inspect the target point based on the target pose information. Alternatively, it includes: receiving a re-inspection command, and in response to the re-inspection command, determining target pose information at the time of re-inspection, the target pose information being associated with the target point on the inspection object to be re-inspected; and re-inspecting the target point based on the target pose information.

[0195] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The 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 the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0196] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0197] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for re-inspecting unmanned aerial vehicles (UAVs), characterized in that, include: Receive user interaction operation instructions and respond to the interaction operation instructions to determine the target points to be re-inspected on the inspection object; Determine the target pose information of the UAV associated with the target point, and control the UAV to re-inspect the target point based on the target pose information; The interactive operation command is the user's selection command for the target image corresponding to the displayed target point; the target image is the target anomaly point image captured by the acoustic imaging component carried by the UAV during the inspection process or the target video frame in the inspection video. The abnormal point images captured by the acoustic imaging component are associated with the pose information of the UAV when the abnormal point images are captured, and each video frame in the inspection video is associated with the pose information of the UAV at the corresponding time.

2. The UAV re-inspection method according to claim 1, characterized in that, The target anomaly image is specifically captured by the acoustic imaging component after sending an anomaly detection signal during the UAV inspection process; the anomaly image, the anomaly detection signal, and the pose information of the UAV when the anomaly image was captured are associated. The target image is the target anomaly image. Based on the target pose information, the UAV is controlled to re-inspect the target points, including: Determine the target anomaly detection signal associated with the target image; Based on the target pose information and the target anomaly detection signal, the UAV is controlled to re-inspect the target location.

3. The UAV re-inspection method according to claim 2, characterized in that, The target anomaly detection signal includes the azimuth information of the target point, and the target pose information includes the target position and target attitude of the UAV; Based on the target pose information and the target anomaly detection signal, the UAV is controlled to re-inspect the target location, including: Based on the azimuth information, the target position is updated to obtain the updated position, and the UAV is controlled to fly to the updated position. At the updated position, the attitude is adjusted to the target attitude, and the target position is re-inspected.

4. The UAV re-inspection method according to claim 2, characterized in that, The target anomaly detection signal includes the azimuth information of the target point, and the target pose information includes the target position and target attitude of the UAV; Based on the target pose information and the target anomaly detection signal, controlling the UAV to re-inspect the target location also includes: Control the drone to fly to the target location, and at the target location, adjust its attitude to the target attitude to re-inspect the target point; If a location update command is received, the target location is updated based on the orientation information, the updated location is determined, the UAV is controlled to fly to the updated location, and the target point is re-inspected at the updated location in the target attitude. Alternatively, if a location update command is received, the location update command is sent to the UAV, so that after receiving the location update command, the UAV updates the target location based on the orientation information, determines the updated location, flies to the updated location, and re-inspects the target point at the updated location in the target attitude.

5. The UAV re-inspection method according to claim 1, characterized in that, The process of receiving user interaction commands includes, prior to: During the UAV inspection process, if the UAV receives an anomaly detection signal sent by the acoustic imaging component and controls the acoustic imaging component to capture an anomaly point image, then the image identifier of the anomaly point image and the pose information of the UAV when capturing the anomaly point image are obtained, and the image identifier of the anomaly point image, the anomaly detection signal, and the pose information of the UAV when capturing the anomaly point image are associated and stored; or, through the acoustic imaging component, the image identifier of the anomaly point image, the anomaly detection signal, and the pose information of the UAV when capturing the anomaly point image are associated and stored.

6. The UAV re-inspection method according to any one of claims 1-5, characterized in that, The target locations include multiple points, and the target pose information includes the target position and target pose of the UAV. Based on the target pose information, the UAV is controlled to re-inspect the target location, including: Based on the interactive operation sequence corresponding to each target point or the target location associated with each target point, the re-inspection sequence of each target point is determined, and based on the re-inspection sequence, the UAV is controlled to re-inspect each target point in sequence.

7. The UAV re-inspection method according to any one of claims 1-5, characterized in that, The acoustic imaging component or the drone is equipped with a visual indication unit; When controlling the UAV to re-inspect the target location based on the target pose information, the method further includes: controlling the vision indication unit to emit a laser towards the target location.

8. A method for re-inspecting unmanned aerial vehicles (UAVs), characterized in that, include: Receive a re-inspection instruction and, in response to the re-inspection instruction, determine the target pose information for the re-inspection, wherein the target pose information is associated with the target point to be re-inspected on the inspection object; the target pose information is determined based on the UAV re-inspection method according to any one of claims 1-7. Based on the target pose information, the target point is re-inspected.

9. A drone, characterized in that, include: The drone body, the remote control device, and the acoustic imaging component mounted on the drone body; the drone body is communicatively connected to the remote control device and the acoustic imaging component, respectively; the remote control device and the acoustic imaging component are communicatively connected. The remote control device is used to control the UAV body to inspect the inspection object and to display the identification information of each point on the inspection object to the user during the inspection process of the UAV body; the remote control device is also used to execute the UAV re-inspection method as described in any one of claims 1-7; The drone body is used to perform the drone re-inspection method as described in claim 8.

10. The UAV according to claim 9, characterized in that, The acoustic imaging component is also used to collect acoustic signals along the inspection path during the inspection of the UAV body, and to send an abnormality detection signal to the UAV body when the acoustic signal is abnormal. The UAV body or the remote control device is also used to control the acoustic imaging component to capture inspection video during the UAV inspection process and send the inspection video to the remote control device; and / or, when the abnormality detection signal is received, control the acoustic imaging component to capture abnormal point images and send the abnormal point images to the remote control device. The remote control device is also used to use each video frame in the inspection video as the identification information of the point that the acoustic imaging component is facing at the corresponding time, and the abnormal point image as the identification information of the point that the acoustic imaging component is facing when the image is captured.

11. The UAV according to claim 10, characterized in that, The remote control device is equipped with a display module for displaying the inspection video or the abnormal point image to the user, so that the user can select the target image corresponding to the target point to be re-inspected on the inspection object from the inspection video or the abnormal point image.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the UAV re-inspection method as described in any one of claims 1-8.

Images