Outdoor inspection method and equipment

Abstract

The present application provides an outdoor inspection method and device, the method comprising: obtaining the current position through an intelligent inspection terminal, and determining the position of the next inspection point to be inspected based on the determined shortest inspection route; generating a navigation route with the shortest time or the shortest path based on the current position and the position of the next inspection point and the terrain environment to guide the user to the next inspection point; associating the ground inspection data obtained by the intelligent inspection terminal itself with the identifier of the current inspection point to generate inspection data; uploading the inspection data to a cloud server through the intelligent inspection terminal; if the intelligent inspection terminal detects that its own power is lower than a preset threshold and / or the current weather environment meets the preset abnormal conditions, sending a preset warning information to the cloud server; if the posture data detected by the intelligent inspection terminal meets the preset user danger condition, executing the preset rescue process. The present application realizes intelligent inspection.

Description

Technical Field

[0001] The present application relates to the technical field of outdoor inspection methods, and in particular to an outdoor inspection method and equipment. Background Art

[0002] The traditional inspection system mainly consists of inspection points, inspection personnel and supervisory personnel. The inspection personnel walk between the inspection points, conduct inspections on these inspection points, and record the status of the inspection points in a notebook they carry with them. Supervisory personnel will regularly compile statistics and audit the inspection results of the inspection personnel, for example, they will summarize the notebooks of each inspection personnel every week or month, and compile statistics on the contents of the notebooks to conduct statistics and analysis on the inspection results.

[0003] The inspection process is managed by manual paper-and-pen recording. In this method, inspectors need to record the location of each inspection point by themselves, which makes the inspection process time-consuming, labor-intensive and inefficient. In addition, paper documents are used to record inspection data, and the amount of inspection data stored is too large, resulting in too many paper documents recording data, which cannot be properly preserved. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present application provides an outdoor inspection method and equipment.

[0005] The specific technical solutions are as follows:

[0006] An outdoor inspection method is applied to an intelligent inspection terminal, wherein the intelligent inspection terminal is network-connected to a cloud server; the method comprises:

[0007] The current position is obtained through the intelligent inspection terminal, and the position of the next inspection point to be inspected is determined based on the shortest inspection route determined in advance by the Markov quadruple and the environment to be inspected currently; the environment includes the terrain environment and the weather environment;

[0008] Based on the current position, the position of the next inspection point to be inspected, and the terrain environment to be inspected, a navigation route with the shortest time or the shortest path is generated on the intelligent inspection terminal to guide the user to the next inspection point to be inspected for inspection; the navigation route includes danger prompts at preset location points;

[0009] Associating the ground inspection data acquired by the intelligent inspection terminal itself with the identifier of the current inspection point to generate inspection data corresponding to the current inspection point;

[0010] Uploading the inspection data of the current inspection point to the cloud server through the intelligent inspection terminal;

[0011] If the smart inspection terminal detects that its own power level is lower than a preset threshold and / or the current weather environment meets the preset abnormal conditions, a preset warning message is sent to the cloud server; if the posture data detected by the smart inspection terminal meets the preset user danger conditions, the preset rescue process is executed.

[0012] In one embodiment, the intelligent inspection terminal stores the inspection route to be inspected currently, and the inspection route includes a plurality of inspection points;

[0013] The method further includes: if an abnormality occurs in the detection result of the current inspection point detected by the intelligent inspection terminal, determining the position of the current inspection point, and setting a certain number of new inspection points within a preset range based on the type of abnormality with the position of the current inspection point as the center; generating a new inspection route based on the new inspection points and the original inspection route; or

[0014] The method further includes: if an abnormality occurs in the detection result of the current inspection point detected by the intelligent inspection terminal, determining the position of the current inspection point and the next inspection point on the inspection route; setting a certain number of new inspection points between the current inspection point and the next inspection point; generating a new inspection route based on the new inspection points and the original inspection route;

[0015] The method also includes: determining the position of the next inspection point to be inspected based on the latest inspection route.

[0016] In one embodiment, the method is also applied to a system consisting of an intelligent inspection terminal and an unmanned aerial vehicle, wherein the intelligent inspection terminal is communicatively connected to the unmanned aerial vehicle, and the method further comprises:

[0017] If a preset flight control instruction of the user is obtained when the intelligent inspection terminal is used to inspect the current inspection point, the unmanned aerial vehicle is controlled to take off through the intelligent inspection terminal to perform a flight inspection on the area related to the flight control instruction to obtain flight inspection data; the area actually inspected by the unmanned aerial vehicle is a partial area selected by the unmanned aerial vehicle in the area corresponding to the flight control instruction based on its current power;

[0018] The "associating the ground inspection data acquired by the intelligent inspection terminal itself with the identifier of the current inspection point to generate inspection data corresponding to the current inspection point" includes: associating the ground inspection data acquired by the intelligent inspection terminal itself, the flight inspection data and the identifier of the current inspection point to generate inspection data corresponding to the current inspection point.

[0019] In one embodiment, the intelligent inspection terminal receives the flight inspection data acquired by the unmanned aerial vehicle at a certain data transmission rate; the data transmission rate is proportional to the transmission power of the unmanned aerial vehicle;

[0020] The data transmission rate is determined by the following formula:

[0021]

[0022] R t is the data transmission rate; B is the communication bandwidth; g0 is the received power at a position of 1m when transmitting data with a transmission power of 1W; P Tr,t is the transmission power of the unmanned aerial vehicle; H is the height of the unmanned aerial vehicle relative to the intelligent inspection terminal; d u,B,t is the horizontal distance between the unmanned aerial vehicle and the intelligent inspection terminal; σ 2 is the noise power;

[0023] The method further includes:

[0024] The transmission power is adjusted according to the power of the unmanned aerial vehicle, and the flight inspection data that has not been sent is stored in its own memory.

[0025] In one embodiment, it further includes:

[0026] Acquiring the flight inspection data through the intelligent inspection terminal, and analyzing the flight inspection data to determine abnormal points in the area related to the flight control instruction;

[0027] The abnormal point is used as a new inspection point;

[0028] A new inspection route is generated based on the newly added inspection point and the original inspection route.

[0029] In one embodiment, the unmanned aerial vehicle is provided with a mark corresponding to the intelligent inspection terminal or a mark of a user currently performing inspection through the intelligent inspection terminal; marks of different intelligent inspection terminals are different, and marks of different users performing inspections are different;

[0030] The “if the posture data detected by the intelligent inspection terminal meets the preset user danger condition, then executing the preset assistance process” includes:

[0031] If the posture data detected by the intelligent inspection terminal meets the preset user danger condition, it is determined whether the communication between the intelligent inspection terminal and the cloud server is normal;

[0032] If the communication is normal, a rescue request is generated based on the current location through the intelligent inspection terminal, and the rescue request is sent to the cloud server;

[0033] If the communication is judged to be abnormal, a rescue request is generated based on the current position through the intelligent inspection terminal, and the rescue request is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies to the preset position for assistance. At the same time, the intelligent inspection terminal periodically executes the operation of sending the rescue request to the cloud server.

[0034] In one embodiment, it further includes:

[0035] If the intelligent inspection terminal is in a preset dangerous area and the unmanned aerial vehicle is in flight, the heartbeat connection instruction including the position of the intelligent inspection terminal is periodically sent to the unmanned aerial vehicle by the intelligent inspection terminal;

[0036] If the UAV does not receive the heartbeat connection instruction for more than a certain period of time, the UAV enters a rescue mode, so that the UAV flies to a preset location to perform a rescue operation based on the last received heartbeat connection instruction.

[0037] In one embodiment, it further includes:

[0038] Acquire the data of the corresponding inspection point sent by the cloud server through the intelligent inspection terminal;

[0039] Determine the time point when the inspection point is abnormal and the type of abnormality based on the data of the inspection point;

[0040] Determine the probability of an abnormality currently occurring at the inspection point based on the time point;

[0041] If the probability is greater than a preset probability threshold, the probability and the type of abnormality that occurred in the inspection point history are prompted to the user.

[0042] In one embodiment, it further includes:

[0043] When the intelligent inspection terminal detects that the inspection point is currently reached, the inspection items are determined based on the inspection point;

[0044] Detecting the user's operation, and determining the completed inspection items according to the user's operation, and marking the completed inspection items with a first identifier, and marking the unfinished inspection items with a second identifier;

[0045] If it is detected that the time taken for the intelligent inspection terminal to arrive at the current inspection point exceeds a preset time and there are still unfinished inspection items, a voice prompt is given to the user.

[0046] An outdoor inspection device is applied to an intelligent inspection terminal, wherein the intelligent inspection terminal is network-connected to a cloud server; the device comprises:

[0047] An acquisition module, used to acquire the current position through the intelligent inspection terminal, and determine the position of the next inspection point to be inspected based on the shortest inspection route determined in advance by the Markov quadruple and the environment to be inspected;

[0048] A generation module is used to generate a navigation route with the shortest time or the shortest path on the intelligent inspection terminal based on the current position, the position of the next inspection point to be inspected, and the terrain environment to be inspected, to guide the user to the next inspection point to be inspected for inspection;

[0049] An association module, used to associate the ground inspection data acquired by the intelligent inspection terminal itself with the identifier of the current inspection point to generate inspection data corresponding to the current inspection point;

[0050] An uploading module, used to upload the inspection data of the current inspection point to the cloud server through the intelligent inspection terminal;

[0051] The assistance module is used to send a preset warning message to the cloud server when the smart patrol terminal detects that its own power is lower than a preset threshold and / or the current weather environment meets the preset abnormal conditions. It is also used to execute a preset assistance process when the posture data detected by the smart patrol terminal meets the preset user danger conditions.

[0052] This application has at least the following beneficial effects:

[0053] The present application provides an outdoor inspection method and device, which are applied to an intelligent inspection terminal, and the intelligent inspection terminal is network-connected to a cloud server. The outdoor inspection method includes: obtaining the current position through the intelligent inspection terminal, and determining the position of the next inspection point to be inspected based on the shortest inspection route determined in advance by the Markov quadruple and the current environment to be inspected; the environment includes the terrain environment and the weather environment; based on the current position and the position of the next inspection point to be inspected and the current terrain environment to be inspected, generating a navigation route with the shortest time or the shortest path on the intelligent inspection terminal to guide the user to the current inspection point The next inspection point is inspected; the navigation route includes danger prompts for preset location points; the ground inspection data obtained by the intelligent inspection terminal itself is associated with the identifier of the current inspection point to generate inspection data corresponding to the current inspection point; the inspection data of the current inspection point is uploaded to the cloud server through the intelligent inspection terminal; if the intelligent inspection terminal detects that its own power is lower than the preset threshold and / or the current weather environment meets the preset abnormal conditions, the preset early warning information is sent to the cloud server; if the posture data detected by the intelligent inspection terminal meets the preset user danger conditions, the preset rescue process is executed.

[0054] The outdoor inspection method provided by the present application overcomes the drawbacks of manual inspection and improves inspection efficiency; during the inspection process, route guidance is provided to users based on the terrain environment and weather environment, and it is highly intelligent; and inspection data is stored through a cloud server, which is convenient and easy to view later; early warning information can also be sent to the cloud server through the intelligent inspection terminal when the battery is low and the weather is abnormal; and user information is monitored in real time through the intelligent inspection terminal, so that users can be rescued in time when they are in dangerous situations, which is highly timely and ensures user safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0056] Figure 1 A first schematic diagram of the outdoor inspection method provided in Example 1;

[0057] Figure 2 A second schematic diagram of the outdoor inspection method provided in Example 1;

[0058] Figure 3 A third schematic diagram of the outdoor inspection method provided in Example 1;

[0059] Figure 4A schematic diagram of an outdoor inspection method provided in Example 2;

[0060] Figure 5 A first schematic diagram of an outdoor inspection method provided in Example 4;

[0061] Figure 6 A second schematic diagram of the outdoor inspection method provided in Example 4;

[0062] Figure 7 This is a module schematic diagram of the outdoor inspection equipment provided in Example 5.

[0063] Reference numerals:

[0064] 1- Acquisition module; 2- Generation module; 3- Association module; 4- Upload module; 5- Assistance module. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] Example 1

[0067] like Figure 1 , Figure 2 and Figure 3 As shown, the present application provides an outdoor inspection method, which is applied to an intelligent inspection terminal, and the intelligent inspection terminal network is connected to a cloud server; the method includes:

[0068] The current position is obtained through the intelligent inspection terminal, and the position of the next inspection point to be inspected is determined based on the shortest inspection route determined in advance by the Markov quadruple and the environment to be inspected currently; the environment includes the terrain environment and the weather environment;

[0069] Based on the current position, the position of the next inspection point to be inspected, and the terrain environment to be inspected, a navigation route with the shortest time or the shortest path is generated on the intelligent inspection terminal to guide the user to the next inspection point to be inspected for inspection; the navigation route includes danger prompts at preset location points;

[0070] Associating the ground inspection data acquired by the intelligent inspection terminal itself with the identifier of the current inspection point to generate inspection data corresponding to the current inspection point;

[0071] Upload the inspection data of the current inspection point to the cloud server through the intelligent inspection terminal;

[0072] If the intelligent inspection terminal detects that its own power level is lower than the preset threshold and / or the current weather environment meets the preset abnormal conditions, a preset warning message will be sent to the cloud server; if the posture data detected by the intelligent inspection terminal meets the preset user danger conditions, the preset rescue process will be executed.

[0073] The outdoor inspection method provided in this embodiment overcomes the disadvantages that manual inspection is completely dependent on inspection personnel and the inspection process is time-consuming and labor-intensive, reduces the dependence on manual labor during the inspection process, and improves the inspection efficiency.

[0074] Secondly, during the inspection process, route guidance is provided to users based on the terrain and weather environment. Users do not need to record inspection points by themselves, and the inspection path can be modified in time according to changes in the terrain and weather environment, which is highly intelligent.

[0075] Furthermore, the storage method of obtaining ground inspection data through the intelligent inspection terminal itself and storing the inspection data through the cloud server is convenient and also convenient for subsequent viewing.

[0076] In addition, the smart inspection terminal can send early warning information to the cloud server when the battery is low or the weather is abnormal. The smart inspection terminal can monitor the user's posture data in real time to rescue the user in time when the user is in danger, which ensures the safety of the user.

[0077] like Figure 3 As shown, the intelligent inspection terminal stores the inspection route to be inspected currently, and the inspection route includes multiple inspection points;

[0078] Outdoor inspection methods also include:

[0079] If an abnormality is found in the detection result of the current inspection point detected by the intelligent inspection terminal, the location of the current inspection point is determined;

[0080] Centered on the location of the current inspection point, a certain number of new inspection points are set within the preset range based on the type of anomaly;

[0081] Generate new inspection routes based on newly added inspection points and existing inspection routes.

[0082] The outdoor inspection method provided in this embodiment can adjust the inspection route according to the actual inspection situation during the inspection process, and is highly intelligent and flexible. The outdoor inspection method provided in this embodiment is different from the conventional inspection method that provides an unchanging inspection route. This embodiment will add a preset number of new inspection points around the current inspection point based on the abnormal type of the detection result of the current inspection point, with the position of the current inspection point as the center, so that users can expand the inspection range, facilitate timely grasp of the scope of abnormal situations, avoid missing other abnormal areas, and make the inspection results safe and reliable.

[0083] Specifically, the method further includes: determining the position of the next inspection point to be inspected based on the latest inspection route. This embodiment updates the inspection route in real time based on the actual inspection situation and provides inspection guidance to the user, which has strong real-time performance.

[0084] In one embodiment, an outdoor inspection method further includes:

[0085] Obtain the data of the corresponding inspection points sent by the cloud server through the intelligent inspection terminal;

[0086] Determine the time point and type of abnormality that occurred at the inspection point based on the data of the inspection point;

[0087] Determine the probability of abnormality occurring at the inspection point based on the time point;

[0088] If the probability is greater than the preset probability threshold, the user will be prompted with the probability and the type of abnormality that occurred in the inspection point history.

[0089] The outdoor inspection method provided in this embodiment obtains the historical data of the inspection point from the cloud server through the intelligent inspection terminal, and determines the probability of the abnormality occurring at the inspection point based on the analysis of the time when the abnormality occurred and the type of the abnormality, so as to prompt the user when the probability of the abnormality occurring is high, so that the user can make preparations before arriving at the inspection point, or so that the user can change the inspection method in time, and the method is highly intelligent.

[0090] like Figure 1 As shown, in one embodiment, an outdoor inspection method further includes:

[0091] When the intelligent inspection terminal detects that the inspection point has been reached, the inspection items are determined based on the inspection point;

[0092] Detecting the user's operation, and determining the completed inspection items according to the user's operation, and marking the completed inspection items with a first identifier; marking the unfinished inspection items with a second identifier;

[0093] If it is detected that the time taken for the intelligent inspection terminal to arrive at the current inspection point exceeds the preset time and there are still unfinished inspection items, a voice prompt will be given to the user.

[0094] This embodiment provides an outdoor inspection method, which distinguishes completed inspection items from unfinished inspection items through a first identifier and a second identifier, so as to facilitate users to determine completed inspection items; and detects the inspection time of the user at the current inspection point to control the time of the user's inspection process, thereby improving the inspection efficiency and making the smart inspection terminal highly intelligent.

[0095] Example 2

[0096] like Figure 4 As shown, in this embodiment, the intelligent inspection terminal stores the inspection route to be inspected currently, and the inspection route includes multiple inspection points.

[0097] Outdoor inspection methods also include:

[0098] If an abnormality is found in the detection result of the current inspection point detected by the intelligent inspection terminal, the location of the current inspection point and the next inspection point on the inspection route is determined;

[0099] A certain number of new inspection points are set between the current inspection point and the next inspection point on the inspection route;

[0100] Generate new inspection routes based on newly added inspection points and existing inspection routes.

[0101] This embodiment sets up a new inspection point near the current inspection point where the abnormality occurs, so that the user can expand the inspection range, facilitate timely grasp of the scope of the abnormal situation, avoid missing other abnormal areas, and make the inspection results safe and reliable. At the same time, the new inspection point is located between the current inspection point and the next inspection point to minimize the user's movement path.

[0102] The outdoor inspection method provided in this embodiment can adjust the inspection route according to the actual inspection situation during the inspection process, rather than the conventional inspection method of providing an unchanging inspection route. This allows the inspection results to comprehensively feedback the scope of the abnormal situation while taking into account the user's usage experience, thereby reducing the user's movement path as much as possible and providing a good user experience.

[0103] Specifically, the method further includes: determining the position of the next inspection point to be inspected based on the latest inspection route. This embodiment updates the inspection route in real time based on the actual inspection situation and provides inspection guidance to the user, which has strong real-time performance.

[0104] The other contents of this embodiment are the same as those of Embodiment 1 and will not be described again here.

[0105] Example 3

[0106] In this embodiment, an outdoor inspection method further includes:

[0107] Obtain feedback data from the cloud server through the intelligent inspection terminal;

[0108] If the feedback data includes newly added inspection points, a new inspection route is generated based on the newly added inspection points and the original inspection route.

[0109] The cloud server in this embodiment can regulate the inspection route of the user. Compared with the conventional inspection method that provides an unchanging inspection route, the outdoor inspection method provided by this embodiment has a close connection between the intelligent inspection terminal and the cloud server, and can obtain feedback data from the cloud server in a timely manner. The intelligent inspection terminal can adjust the inspection route in time based on the feedback data from the cloud server, and has the function of changing the inspection route in time to deal with emergencies, with strong immediacy and high flexibility.

[0110] The other contents of this embodiment are the same as those of Embodiment 1 or Embodiment 2 and will not be described again here.

[0111] Example 4

[0112] like Figure 5 and Figure 6 As shown, the present application provides an outdoor inspection method, which is applied to an intelligent inspection terminal and an unmanned aerial vehicle, wherein the intelligent inspection terminal is connected to the unmanned aerial vehicle through communication, and the intelligent inspection terminal is connected to a cloud server through a network; the method comprises:

[0113] The current location is obtained through the intelligent inspection terminal, and the location of the next inspection point to be inspected is determined based on the preset inspection route;

[0114] Based on the current position and the position of the next inspection point to be inspected, a navigation route is generated on the intelligent inspection terminal to guide the user to the next inspection point to be inspected for inspection;

[0115] If the user's preset flight control instruction is obtained when the intelligent inspection terminal is used to inspect the current inspection point, the unmanned aerial vehicle is controlled to take off through the intelligent inspection terminal to perform flight inspection on the area related to the flight control instruction to obtain flight inspection data; the area actually inspected by the unmanned aerial vehicle is a part of the area selected by the unmanned aerial vehicle in the area corresponding to the flight control instruction based on its current power;

[0116] The ground inspection data, flight inspection data and the identifier of the current inspection point acquired by the intelligent inspection terminal are associated to generate inspection data corresponding to the current inspection point;

[0117] The inspection data of the current inspection point is uploaded to the cloud server through the intelligent inspection terminal.

[0118] The outdoor inspection method provided in this embodiment realizes intelligent inspection by controlling the intelligent inspection terminal and the unmanned aerial vehicle, thereby overcoming the disadvantages of manual inspection that it is completely dependent on inspection personnel and the inspection process is time-consuming and labor-intensive, reducing the dependence on manual labor during the inspection process and improving the inspection efficiency.

[0119] Secondly, based on its current power level, the UAV selects some areas that meet its current inspection capabilities in the area corresponding to the flight control command for inspection, thus avoiding the UAV being lost outdoors.

[0120] Moreover, during the inspection process, route guidance can be provided to users, without the need for users to record inspection points themselves, which is highly intelligent.

[0121] In addition, the storage method of obtaining ground inspection data through the intelligent inspection terminal itself, obtaining flight inspection data through the unmanned aerial vehicle, and finally storing the inspection data through the cloud server is convenient and easy to view later.

[0122] In one embodiment, the intelligent inspection terminal receives the flight inspection data acquired by the unmanned aerial vehicle at a certain data transmission rate; the data transmission rate is proportional to the transmission power of the unmanned aerial vehicle;

[0123] The data transfer rate is determined by the following formula:

[0124]

[0125] R t is the data transmission rate; B is the communication bandwidth; g0 is the received power at a position of 1m when transmitting data with a transmission power of 1W; P Tr,t is the transmission power of the UAV; H is the height of the UAV relative to the intelligent inspection terminal; d u,B,t is the horizontal distance between the UAV and the intelligent inspection terminal; σ 2 is the noise power;

[0126] The method further includes:

[0127] The transmission power is adjusted according to the battery power of the UAV, and the flight inspection data that has not been sent is stored in its own memory.

[0128] This embodiment adjusts the transmission power according to the power level of the unmanned aerial vehicle, thereby avoiding excessive power consumption and ensuring a balance between power consumption and data transmission speed. At the same time, the flight inspection data that has not been sent is stored in its own memory, thereby avoiding the loss of flight inspection data due to power exhaustion.

[0129] like Figure 5 and Figure 6 As shown, in one embodiment, an outdoor inspection method further includes:

[0130] Obtain flight inspection data through the intelligent inspection terminal and analyze the flight inspection data to determine abnormal points in the area related to the flight control instructions;

[0131] Take abnormal points as new inspection points;

[0132] Generate new inspection routes based on newly added inspection points and existing inspection routes.

[0133] The outdoor inspection method provided in this embodiment allows the user to obtain and analyze the flight inspection data from the unmanned aerial vehicle through the intelligent inspection terminal, determine the abnormal points in the area related to the flight control instructions, and inspect the conditions in the related areas, so that the user does not need to go to the inspection point in person to inspect the inspection point, saving the time consumed by manual inspection.

[0134] Moreover, unmanned aerial vehicles have the advantage of height and can obtain the specific conditions of inspection points at high altitudes. Therefore, compared with the ground inspection data obtained by the intelligent inspection terminal itself, the specific conditions of the inspection points reflected by the flight inspection data obtained by the unmanned aerial vehicle are more comprehensive and closer to the actual situation.

[0135] In addition, unmanned aerial vehicles have a higher adaptability to the terrain of inspection points. Since manual inspections are subject to more terrain restrictions, unmanned aerial vehicles can inspect inspection points located in different terrains. Therefore, the use of unmanned aerial vehicles for inspections expands the inspection range, reduces inspection blind spots, makes inspections more comprehensive, and makes inspection results safer and more reliable.

[0136] like Figure 5 and Figure 6 As shown, in one embodiment, an outdoor inspection method, a mark corresponding to an intelligent inspection terminal or a mark of a user currently performing inspection through the intelligent inspection terminal is set on the unmanned aerial vehicle; the marks of different intelligent inspection terminals are different, and the marks of different users performing inspections are different;

[0137] “If the posture data detected by the intelligent inspection terminal meets the preset user danger conditions, the preset rescue process will be executed”, including:

[0138] If the posture data detected by the intelligent inspection terminal meets the preset user danger condition, it is determined whether the communication between the intelligent inspection terminal and the cloud server is normal;

[0139] If the communication is judged to be normal, a rescue request is generated based on the current location through the intelligent inspection terminal and sent to the cloud server;

[0140] If the communication is judged to be abnormal, a rescue request is generated based on the current position through the intelligent inspection terminal, and the rescue request is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies to the preset position for assistance. At the same time, the intelligent inspection terminal periodically executes the operation of sending the rescue request to the cloud server.

[0141] This embodiment determines whether the user is in a dangerous situation through the data detected by the intelligent inspection terminal. When the communication between the intelligent inspection terminal and the cloud server is normal, the user can be rescued in time when the user is in a dangerous situation.

[0142] Moreover, even when the communication between the intelligent inspection terminal and the cloud server is abnormal, the present embodiment can also fly to the preset location through the unmanned aerial vehicle to perform a rescue operation to ensure the timeliness of the rescue and avoid missing the best rescue time. The last location of the intelligent inspection terminal is stored and recorded by the unmanned aerial vehicle, so that the search and rescue personnel can know the last location of the user or the intelligent inspection terminal in time during the rescue, thus reducing the search and rescue time in the early stage.

[0143] At the same time, the unmanned aerial vehicle is equipped with a mark corresponding to the intelligent inspection terminal or a mark of the user currently performing inspection through the intelligent inspection terminal, so that the identity information of the user in dangerous situation can be obtained in time, so as to take targeted measures for rescue according to the user.

[0144] like Figure 5 and Figure 6 As shown, in one embodiment, “the data detected by the intelligent inspection terminal meets the preset user danger condition” includes:

[0145] The intelligent inspection terminal detects that the height has dropped by a distance exceeding a preset value within a certain period of time; and / or

[0146] An impact exceeding a certain force is detected by the intelligent inspection terminal; and / or

[0147] The intelligent inspection terminal detects that the preset time has exceeded and the preset button for periodic pressing to confirm safety has not been pressed by the user; and / or

[0148] The intelligent inspection terminal detects that the preset help button is triggered; and / or

[0149] The intelligent inspection terminal detects that the set time has been exceeded and no displacement has occurred.

[0150] This embodiment provides a variety of specific data detected by the intelligent inspection terminal to reflect that the user is in a dangerous situation, so that the detection result of the intelligent inspection terminal is accurate and can detect in time that the user meets the dangerous conditions.

[0151] like Figure 5 and Figure 6 As shown, in one embodiment, an outdoor inspection method further includes:

[0152] If the intelligent inspection terminal is in a preset dangerous area and the unmanned aerial vehicle is in flight, the intelligent inspection terminal periodically sends a heartbeat connection instruction to the unmanned aerial vehicle, wherein the heartbeat connection instruction includes the position of the intelligent inspection terminal;

[0153] If the UAV does not receive a heartbeat connection command for a certain period of time, the UAV enters a rescue mode, so that the UAV flies to a preset location to perform a rescue operation based on the last received heartbeat connection command.

[0154] This embodiment enables the unmanned aerial vehicle to fly to a preset location to perform a rescue operation based on the last heartbeat connection command received, so that rescue can be timely. The unmanned aerial vehicle stores and records the last location of the intelligent inspection terminal, so that when rescue is carried out, search and rescue personnel can promptly know the last location of the user or the intelligent inspection terminal, thereby reducing the initial search and rescue time.

[0155] The other contents of this embodiment are the same as those of Embodiment 1, Embodiment 2 or Embodiment 3, and will not be repeated here.

[0156] Example 5

[0157] like Figure 7 As shown, this embodiment provides an outdoor inspection device, which is applied to an intelligent inspection terminal and an unmanned aerial vehicle. The intelligent inspection terminal is connected to the unmanned aerial vehicle through communication, and the intelligent inspection terminal is connected to the cloud server through a network. The device includes:

[0158] Acquisition module 1, used to acquire the current position through the intelligent inspection terminal, and determine the position of the next inspection point to be inspected based on the shortest inspection route determined in advance by the Markov quadruple and the current environment to be inspected;

[0159] Generating module 2, for generating a navigation route with the shortest time or the shortest path on the intelligent inspection terminal based on the current position and the position of the next inspection point to be inspected and the terrain environment to be inspected, so as to guide the user to the next inspection point to be inspected for inspection;

[0160] The association module 3 is used to associate the ground inspection data acquired by the intelligent inspection terminal itself with the identifier of the current inspection point to generate the inspection data corresponding to the current inspection point;

[0161] Upload module 4, used to upload the inspection data of the current inspection point to the cloud server through the intelligent inspection terminal;

[0162] The rescue module 5 is used to send a preset warning message to the cloud server when the intelligent inspection terminal detects that its own power is lower than a preset threshold and / or the current weather environment meets the preset abnormal conditions. It is also used to execute the preset rescue process when the posture data detected by the intelligent inspection terminal meets the preset user danger conditions.

[0163] The outdoor inspection equipment provided in this embodiment controls the intelligent inspection terminal through the cooperation of the acquisition module 1, the generation module 2, the association module 3, the upload module 4 and the rescue module 5, thereby realizing intelligent inspection, overcoming the disadvantages that manual inspection is completely dependent on inspection personnel and the inspection process is time-consuming and labor-intensive, reducing the dependence on manual labor during the inspection process, and improving the inspection efficiency; and can provide route guidance for users during the inspection process, without the need for users to record inspection points by themselves, and is highly intelligent; and the storage method of obtaining ground inspection data through the intelligent inspection terminal itself and storing the inspection data through the cloud server is convenient and also convenient for subsequent viewing; and real-time monitoring of user information through the intelligent inspection terminal to rescue users in time when users are in dangerous situations, with high timeliness, ensuring user safety.

[0164] It should be understood by those skilled in the art that the above modules or steps of the present application can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0165] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

[0166] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An outdoor inspection method, characterized in that: Applied to an intelligent inspection terminal, the intelligent inspection terminal network is connected to a cloud server; the method comprises: The current position is obtained through the intelligent inspection terminal, and the position of the next inspection point to be inspected is determined based on the shortest inspection route determined in advance by the Markov quadruple and the environment to be inspected currently; the environment includes the terrain environment and the weather environment; Based on the current position, the position of the next inspection point to be inspected, and the terrain environment to be inspected, a navigation route with the shortest time or the shortest path is generated on the intelligent inspection terminal to guide the user to the next inspection point to be inspected for inspection; the navigation route includes danger prompts at preset location points; Associating the ground inspection data acquired by the intelligent inspection terminal itself with the identifier of the current inspection point to generate inspection data corresponding to the current inspection point; Uploading the inspection data of the current inspection point to the cloud server through the intelligent inspection terminal; If the intelligent inspection terminal detects that its own power is lower than a preset threshold and / or the current weather environment meets the preset abnormal conditions, a preset warning message is sent to the cloud server; if the posture data detected by the intelligent inspection terminal meets the preset user danger condition, a preset rescue process is executed; The method is also applied to a system composed of an intelligent inspection terminal and an unmanned aerial vehicle, wherein the intelligent inspection terminal is communicatively connected to the unmanned aerial vehicle, and the method further comprises: If a preset flight control instruction of the user is obtained when the intelligent inspection terminal is used to inspect the current inspection point, the unmanned aerial vehicle is controlled to take off through the intelligent inspection terminal to perform a flight inspection on the area related to the flight control instruction to obtain flight inspection data; the area actually inspected by the unmanned aerial vehicle is a partial area selected by the unmanned aerial vehicle in the area corresponding to the flight control instruction based on its current power; The "associating the ground inspection data acquired by the intelligent inspection terminal itself with the identifier of the current inspection point to generate inspection data corresponding to the current inspection point" includes: associating the ground inspection data acquired by the intelligent inspection terminal itself, the flight inspection data and the identifier of the current inspection point to generate inspection data corresponding to the current inspection point; The intelligent inspection terminal receives the flight inspection data acquired by the unmanned aerial vehicle at a certain data transmission rate; the data transmission rate is proportional to the transmission power of the unmanned aerial vehicle; the data transmission rate is determined by the following formula: R t is the data transmission rate; B is the communication bandwidth; g0 is the received power at a position of 1m when transmitting data with a transmission power of 1W; P Tr,t is the transmission power of the unmanned aerial vehicle; H is the height of the unmanned aerial vehicle relative to the intelligent inspection terminal; d u,B,t is the horizontal distance between the unmanned aerial vehicle and the intelligent inspection terminal; σ 2 is the noise power; The method also includes: adjusting the transmission power according to the power of the unmanned aerial vehicle, and storing the flight inspection data that has not been sent in its own memory.

2. An outdoor inspection method as claimed in claim 1, characterized in that: The intelligent inspection terminal stores the inspection route to be inspected currently, and the inspection route includes a plurality of inspection points; The method further includes: if an abnormality occurs in the detection result of the current inspection point detected by the intelligent inspection terminal, determining the position of the current inspection point, and setting a certain number of new inspection points within a preset range based on the type of abnormality with the position of the current inspection point as the center; generating a new inspection route based on the new inspection points and the original inspection route; or The method further includes: if an abnormality occurs in the detection result of the current inspection point detected by the intelligent inspection terminal, determining the position of the current inspection point and the next inspection point on the inspection route; setting a certain number of new inspection points between the current inspection point and the next inspection point; generating a new inspection route based on the new inspection points and the original inspection route; The method also includes: determining the position of the next inspection point to be inspected based on the latest inspection route.

3. An outdoor inspection method as claimed in claim 1, characterized in that: Also includes: Acquiring the flight inspection data through the intelligent inspection terminal, and analyzing the flight inspection data to determine abnormal points in the area related to the flight control instruction; The abnormal point is used as a new inspection point; A new inspection route is generated based on the newly added inspection point and the original inspection route.

4. An outdoor inspection method as claimed in claim 1, characterized in that: The unmanned aerial vehicle is provided with a mark corresponding to the intelligent inspection terminal or a mark of a user currently performing inspection through the intelligent inspection terminal; marks of different intelligent inspection terminals are different, and marks of different users performing inspections are different; The "if the posture data detected by the intelligent inspection terminal meets the preset user danger condition, then executing the preset assistance process" includes: If the posture data detected by the intelligent inspection terminal meets the preset user danger condition, it is determined whether the communication between the intelligent inspection terminal and the cloud server is normal; If the communication is normal, a rescue request is generated based on the current location through the intelligent inspection terminal, and the rescue request is sent to the cloud server; If the communication is judged to be abnormal, a rescue request is generated based on the current position through the intelligent inspection terminal, and the rescue request is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies to the preset position for assistance. At the same time, the intelligent inspection terminal periodically executes the operation of sending the rescue request to the cloud server.

5. An outdoor inspection method according to claim 1, characterized in that: Also includes: If the intelligent inspection terminal is in a preset dangerous area and the unmanned aerial vehicle is in flight, the heartbeat connection instruction including the position of the intelligent inspection terminal is periodically sent to the unmanned aerial vehicle by the intelligent inspection terminal; If the UAV does not receive the heartbeat connection instruction for more than a certain period of time, the UAV enters a rescue mode, so that the UAV flies to a preset location to perform a rescue operation based on the last received heartbeat connection instruction.

6. An outdoor inspection method as claimed in claim 1, characterized in that: Also includes: Acquire the data of the corresponding inspection point sent by the cloud server through the intelligent inspection terminal; Determine the time point when the inspection point is abnormal and the type of abnormality based on the data of the inspection point; Determine the probability of an abnormality currently occurring at the inspection point based on the time point; If the probability is greater than a preset probability threshold, the probability and the type of abnormality that occurred in the inspection point history are prompted to the user.

7. An outdoor inspection method according to claim 1, characterized in that: Also includes: When the intelligent inspection terminal detects that the inspection point is currently reached, the inspection items are determined based on the inspection point; Detecting the user's operation, and determining the completed inspection items according to the user's operation, and marking the completed inspection items with a first identifier, and marking the unfinished inspection items with a second identifier; If it is detected that the time taken for the intelligent inspection terminal to arrive at the current inspection point exceeds a preset time and there are still unfinished inspection items, a voice prompt is given to the user.

8. An outdoor inspection device, characterized in that: Applied to intelligent inspection terminal, the intelligent inspection terminal network is connected to the cloud server; the device includes: An acquisition module, used to acquire the current position through the intelligent inspection terminal, and determine the position of the next inspection point to be inspected based on the shortest inspection route determined in advance by the Markov quadruple and the environment to be inspected; A generation module is used to generate a navigation route with the shortest time or the shortest path on the intelligent inspection terminal based on the current position, the position of the next inspection point to be inspected, and the terrain environment to be inspected, to guide the user to the next inspection point to be inspected for inspection; An association module is used to associate the ground inspection data acquired by the intelligent inspection terminal itself with the identifier of the current inspection point to generate inspection data corresponding to the current inspection point; including: if a user's preset flight control instruction is acquired when the current inspection point is inspected by the intelligent inspection terminal, the unmanned aerial vehicle is controlled by the intelligent inspection terminal to take off and perform flight inspection on the area related to the flight control instruction to obtain flight inspection data; the area where the unmanned aerial vehicle actually conducts flight inspection is a partial area selected by the unmanned aerial vehicle in the area corresponding to the flight control instruction based on its current power; the ground inspection data acquired by the intelligent inspection terminal itself, the flight inspection data and the identifier of the current inspection point are associated to generate inspection data corresponding to the current inspection point; the intelligent inspection terminal receives the flight inspection data acquired by the unmanned aerial vehicle at a certain data transmission rate; the data transmission rate is proportional to the transmission power of the unmanned aerial vehicle; An upload module, used to upload the inspection data of the current inspection point to the cloud server through the intelligent inspection terminal; and adjust the transmission power according to the power of the unmanned aerial vehicle, and store the flight inspection data that has not been sent in its own memory; A help-seeking module, used to send a preset warning message to the cloud server when the smart inspection terminal detects that its own power is lower than a preset threshold and / or the current weather environment meets the preset abnormal conditions, and is also used to execute a preset help-seeking process when the posture data detected by the smart inspection terminal meets the preset user danger conditions; The data transmission rate is determined by the following formula: R t is the data transmission rate; B is the communication bandwidth; g0 is the received power at a position of 1m when transmitting data with a transmission power of 1W; P Tr,t is the transmission power of the unmanned aerial vehicle; H is the height of the unmanned aerial vehicle relative to the intelligent inspection terminal; d u,B,t is the horizontal distance between the unmanned aerial vehicle and the intelligent inspection terminal; σ 2 is the noise power.

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