Indoor engineering field inspection method and system based on commercial unmanned aerial vehicle

Abstract

The invention provides an indoor engineering field inspection method and system based on a commercial unmanned aerial vehicle. The method comprises the following steps: constructing an unmanned aerial vehicle inspection indication marking system; constructing a safe flight channel according to the safe flight channel limiting two-dimensional code; and controlling the unmanned aerial vehicle to execute flight inspection work in the safe flight channel according to a flight instruction obtained by identifying the two-dimensional code. Safe flight of the unmanned aerial vehicle in a narrow indoor space can be achieved, engineering field inspection work is completed, the field inspection efficiency of managers can be improved, an inspection plan can be automatically completed, the engineering construction management efficiency is improved, and the high engineering application value is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering construction management, and in particular to an indoor engineering site inspection method and system based on commercial drones. Background Art

[0002] As the scale of construction projects continues to expand and construction efficiency continues to improve, the ability of project managers to manage project sites is insufficient. Especially in small indoor spaces, drones pose a safety hazard. Summary of the invention

[0003] The method and system for indoor engineering site inspection based on commercial drones provided in this application can solve the technical problems existing in the prior art of the increasing scale of engineering construction and the insufficient coverage of project site management by engineering management personnel.

[0004] In the first aspect, the present application provides a method for indoor engineering site inspection based on a commercial drone, comprising the following steps:

[0005] Building a drone inspection indication system includes the following steps:

[0006] Obtain the three-dimensional flight channel of the drone based on the channel design in the confined space and the on-site inspection tasks;

[0007] Setting channel identification marks in the three-dimensional flight channel;

[0008] According to the on-site inspection tasks and the spatial layout of the three-dimensional flight channel, a QR code is designed to be attached to the channel wall of each indicator position of the three-dimensional flight channel, and the QR code includes a safe flight channel limit QR code;

[0009] Construct a safe flight channel based on the safe flight channel limit QR code;

[0010] Control the drone to perform flight inspections within the safe flight channel according to the flight instructions obtained by identifying the QR code.

[0011] In combination with the first aspect, in one embodiment, the QR codes in the step of constructing a drone inspection indication system include but are not limited to a QR code for entering a confined space, a QR code for limiting a safe flight channel, a QR code for turning in the direction of the arrow, a QR code for focusing attention, and a QR code for leaving a confined space.

[0012] In combination with the first aspect, in one embodiment, the controlling the drone to perform flight inspection work in the safe flight channel according to the flight instructions obtained by identifying the QR code specifically includes the following steps:

[0013] When the drone recognizes the QR code for entering a confined space, it controls the drone to fly into the confined space and changes the normal flight mode to the indoor flight mode;

[0014] When the drone recognizes a single QR code pointing in the direction of the arrow, it controls the drone to hover at a specified distance and turn in place in the direction indicated by the arrow;

[0015] When the drone recognizes the key QR code, the drone is controlled to hover and take a high-definition video of the key object obtained by recognizing the key QR code in the restricted space;

[0016] When the drone recognizes the QR code for leaving the confined space, it controls the drone to fly out of the confined space and changes the indoor flight mode to the normal flight mode.

[0017] In combination with the first aspect, in one implementation, the construction of the safe flight channel according to the safe flight channel limit QR code is constructed based on the following rules:

[0018] The safe flight channel starts to be generated at the QR code when entering the confined space;

[0019] The safe flight channel is a rectangular channel formed by a set of safe flight channel limit QR codes or a quasi-rectangular channel formed by a plurality of rectangular Booleans;

[0020] The safe flight channel is generated at the safe flight channel limit QR code and extends infinitely;

[0021] When another set of safe flight channel limit QR codes or a QR code turning in the direction of the arrow is identified, the safe flight channel generation is terminated;

[0022] The safe flight channel ends when leaving the confined space;

[0023] Among them, a set of safe flight channel limit QR codes is an even number of safe flight channel limit QR codes not less than 4.

[0024] In combination with the first aspect, in one implementation, forming a rectangular channel through a set of safe flight channel limit QR codes specifically includes the following steps:

[0025] Taking the center of the safe flight channel limit QR code as the origin, translate the preset positioning distance in the horizontal and vertical directions in the direction of the arrow to obtain the limit positioning point of the safe flight channel data edge line;

[0026] The four adjacent limiting positioning points are connected to form the rectangular channel.

[0027] In combination with the first aspect, in one embodiment, the channel identification mark in the step of setting the channel identification mark in the three-dimensional flight channel is a luminous mark or a light mark.

[0028] In combination with the first aspect, in one implementation, the two-dimensional code in the step of designing the two-dimensional code of each indicator position of the three-dimensional flight channel according to the engineering site inspection task and the spatial layout of the three-dimensional flight channel also includes an indicator graphic and a distance measuring scale;

[0029] The indication graphic is located in the middle of the QR code area and is used to visually indicate the QR code indication function of the current position;

[0030] The distance measuring scale is located around the two-dimensional code area and is aligned along the edge for use in drone distance measurement.

[0031] In combination with the first aspect, in one embodiment, the turning indication of the QR code in the direction of the arrow has multiple priorities, which is represented by a hollow arrow set in the middle of the QR code area, the direction of the hollow arrow represents the turning indication direction, and a number is marked in the middle of the hollow arrow, and the number represents the current turning priority order.

[0032] In combination with the first aspect, in one embodiment, the controlling the drone to perform flight inspection work in the safe flight channel according to the flight instructions obtained by identifying the QR code also includes the following steps:

[0033] When the drone recognizes multiple QR codes pointing in the direction of the arrows, the drone is controlled to turn in order of priority.

[0034] In the second aspect, the application provides a construction site inspection system based on commercial drones that can be used indoors, including:

[0035] System building modules, used to build drone inspection indicator systems, including:

[0036] The three-dimensional flight channel layout unit is used to obtain the three-dimensional flight channel of the UAV based on the channel design in the confined space and the engineering site inspection task;

[0037] A channel identification unit, used to set a channel identification mark in a three-dimensional flight channel;

[0038] The flight indication unit is used to design a QR code attached to the channel wall of each indication position of the three-dimensional flight channel according to the on-site inspection task of the project and the spatial layout of the three-dimensional flight channel, and the QR code includes a safe flight channel limit QR code;

[0039] A safe flight channel construction module is connected to the system construction module for constructing a safe flight channel according to the safe flight channel limit QR code;

[0040] The flight control module is communicatively connected with the system building module and the safe flight channel building module, and is used to control the UAV to perform flight inspection work in the safe flight channel according to the flight instructions obtained by identifying the QR code.

[0041] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0042] This application adopts a drone inspection indication system, which solves the problem of safe flight of drones in a small indoor space by constructing a three-dimensional safe flight channel.

[0043] This application provides digital flight instructions through QR codes, solving the problem that traditional intelligent space recognition solutions such as lidar and vision systems require too much computing power and cannot be achieved by ordinary commercial drones, thereby reducing the cost of deploying the entire system.

[0044] This application adopts the technical means of integrating software and hardware, and uses the drone airport as a hardware carrier to integrate the system software, so as to achieve "plug and play, unplug and go", which solves the problems of complex system layout and excessive professionalism, and further reduces costs and improves efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of a process flow of a method for indoor engineering site inspection based on a commercial drone provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of the composition of a QR code provided in an embodiment of the present application;

[0047] Figure 3 (a) is a schematic diagram of the construction of a two-dimensional code for entering a confined space provided in an embodiment of the present application; Figure 3 (b) is a schematic diagram of the construction of a two-dimensional code for leaving a confined space provided in an embodiment of the present application; Figure 3 (c) is a schematic diagram of the construction of a safe flight channel limit QR code provided in an embodiment of the present application; Figure 3 (d) is a schematic diagram of a QR code for turning in the direction of an arrow provided in an embodiment of the present application; Figure 3 (e) is a schematic diagram of the composition of the QR code provided in the embodiment of the present application;

[0048] Figure 4 A schematic diagram of the composition of a safe flight channel provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of a digital safety flight channel provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of a multi-intersection operating scenario provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings 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.

[0052] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0053] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0054] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0055] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0056] First, some technical terms in the present application are explained to facilitate those skilled in the art to understand the present application.

[0057] First, please refer to Figure 1 The present application provides a method for indoor engineering site inspection based on a commercial drone, comprising the following steps:

[0058] Step S1: Constructing a drone inspection indication system, including the following steps:

[0059] Step S11: Based on the channel design in the confined space and the on-site inspection tasks,

[0060] Plan the three-dimensional flight path of the drone in a confined space channel;

[0061] Step S12: Setting a channel identification mark in the three-dimensional flight channel; wherein the channel identification mark can be a luminous mark or a light mark, which is used for the drone to identify through the channel identification mark.

[0062] Three-dimensional flight channel;

[0063] Step S13: According to the on-site inspection task and the spatial layout of the three-dimensional flight channel, a two-dimensional code is designed to be attached to the channel wall of each indicator position of the three-dimensional flight channel, and the two-dimensional code includes a safe flight channel limit two-dimensional code; wherein the indicator position is the position where the UAV needs to change the flight mode during the indoor flight mode after entering the confined space, such as the intersection of the three-dimensional flight channel, the location of the key inspection object, etc.; the flight mode includes the number of inspections, the inspection direction, the inspection target, etc.; when the UAV scans the two-dimensional code, the flight instruction of the current indicator position of the UAV is obtained; the two-dimensional code includes the safe flight channel limit two-dimensional code;

[0064] Step S2: constructing a safe flight channel according to the safe flight channel limit QR code;

[0065] Step S3: Control the UAV to perform flight inspection work in the safe flight channel according to the flight instructions obtained by identifying the QR code.

[0066] This application adopts a drone inspection indication system, which solves the problem of safe flight of drones in a small indoor space by constructing a three-dimensional safe flight channel.

[0067] This application provides digital flight instructions through QR codes, solving the problem that traditional intelligent space recognition solutions such as lidar and vision systems require too much computing power and cannot be achieved by ordinary commercial drones, thereby reducing the cost of deploying the entire system.

[0068] This application adopts the technical means of integrating software and hardware, and uses the drone airport as a hardware carrier to integrate the system software, so as to achieve "plug and play, unplug and go", which solves the problems of complex system layout and excessive professionalism, and further reduces costs and improves efficiency.

[0069] In one embodiment, based on the graphic design perspective of a single QR code, such as Figure 2 As shown, the step S13: designing the QR code of each indicator position of the three-dimensional flight channel according to the on-site inspection task of the project and the spatial layout of the three-dimensional flight channel is presented in the form of a picture, including the QR code area, the indicator graphic in the middle of the QR code area, and the distance measuring scales arranged flush along the edges around the QR code area; wherein:

[0070] The QR code area is used for the drone to identify and obtain the flight instructions indicated by the QR code;

[0071] The indication graphic is used to visually indicate the indication function of the QR code of the identification position, so as to facilitate the operators to identify the function of the QR code when constructing the safe flight channel; specifically, the arrow in the indication graphic area of ​​the safe flight channel limit QR code is used to indicate the position direction of the safe flight channel limit positioning point, so as to facilitate the operators to post and prevent posting errors;

[0072] The ranging scale is used for UAV distance measurement. The distance between the UAV and the indicator is calibrated by the ranging scale, and digital instructions are provided through QR codes. This solves the problem that traditional intelligent space recognition solutions such as lidar and vision systems require too much computing power and cannot be achieved by ordinary commercial UAVs, thereby reducing the cost of deploying UAV inspection and indication systems.

[0073] In one embodiment, based on the QR code indicating the functional design angle, such as Figure 3 As shown, step S13: designing the QR codes of each indicator position of the three-dimensional flight channel according to the on-site inspection tasks and the spatial layout of the three-dimensional flight channel. In addition to the safe flight channel limit QR code, the QR code also includes but is not limited to a QR code for entering a restricted space, a QR code for turning in the direction of the arrow, a QR code for focusing on, and a QR code for leaving a restricted space. All of them are attached to the three-dimensional flight channel in the form of pictures, and can convey flight instructions on the spot. For example, the QR code for focusing on solves the problem that it is difficult for computers to identify the key points of construction site inspections.

[0074] In one embodiment, a data edge of a safe flight channel is further constructed in a three-dimensional flight channel based on a safe flight channel limit QR code, which is used for calculation to ensure flight safety; specifically, when the UAV recognizes the safe flight channel limit QR code, the UAV is controlled to continue to perform flight inspection work in the safe flight channel framed by the data edge line; the UAV indoor engineering project inspection of the present application is based on the establishment of a safe flight channel for safe UAV flight indoors through a UAV inspection indication system.

[0075] In one embodiment, step S2: constructing a safe flight channel according to the safe flight channel limit QR code is based on the following five rules:

[0076] Rule 1: The safe flight channel starts to be generated at the QR code of entering the confined space;

[0077] Rule 2: The safe flight channel is a rectangular channel formed by a set of safe flight channel limit QR codes or a quasi-rectangular channel formed by a complex rectangular Boolean;

[0078] Rule 3: The safe flight channel is generated at the safe flight channel limit QR code and extends indefinitely;

[0079] Rule 4: When another set of safe flight channel limit QR codes or a QR code turning in the direction of the arrow is identified, the safe flight channel generation is terminated;

[0080] Rule 5: The safe flight channel ends when leaving the confined space;

[0081] Among them, a set of safe flight channel limit QR codes is an even number of safe flight channel limit QR codes not less than 4.

[0082] It is particularly important to note that all safe flight channel cross-sections in this application are obtained by Boolean operations on multiple rectangles. This design not only makes it convenient for operators to arrange safe flight channels, but also facilitates the design of drone obstacle avoidance programs, reduces computing power consumption, and avoids falling into logical dead loops.

[0083] In one embodiment, in rule 2, a set of safe flight channel limit QR codes are used to form a rectangular channel, which specifically includes the following steps:

[0084] like Figure 4 As shown, take the center of the safety flight channel limit QR code as the origin, and move horizontally and vertically in the direction of the arrow by a preset positioning distance h. 定 Obtain the limit positioning points of the safety flight channel data edge line;

[0085] The four adjacent limiting positioning points are connected to form the rectangular channel.

[0086] Under the preset flight safety rules, fly within the safe flight channel, such as Figure 4 As shown, keep the preset safety distance h from the digital edge of the safe flight channel 安 .

[0087] After operators use the drone inspection indication system to complete the construction of indoor safe flight channels and inspection signs, they can form a digital safe flight channel under the drone software recognition, such as Figure 5 shown.

[0088] After the construction of the safe flight channel is completed, the drone inspection indication system of this application can be used to control the drone to perform flight inspection work in the safe flight channel of the three-dimensional flight channel according to various QR codes with different functions.

[0089] In one embodiment, corresponding to the QR codes of various functions, the flight instructions include entering a confined space, limiting a safe flight channel, turning, inspecting key points, and leaving a confined space. When the drone recognizes a single QR code, step S3: controlling the drone to perform flight inspection work in the safe flight channel according to the flight instructions obtained by identifying the QR code, specifically including the following steps:

[0090] Step S3A: When the drone recognizes the QR code for entering a confined space, the drone is controlled to fly into the confined space and the normal flight mode is changed to the indoor flight mode, and the safety logic of flight and obstacle avoidance is switched to indoor, so that the drone can fly in a small indoor space;

[0091] Step S3B1: When the drone recognizes a single QR code turning in the direction of the arrow, the drone is controlled to hover at a specified distance and turn in place in the direction indicated by the arrow. After the turning is completed, the drone recognizes the digital edge of the safe flight channel constructed by the safe flight channel limit QR code, and continues the flight inspection work according to the safe flight channel framed by the digital edge;

[0092] Step S3C: When the drone recognizes the key focus QR code, the drone is controlled to hover and a high-definition video is taken of the key focus object obtained by recognizing the key focus QR code in the restricted space, thereby completing the key inspection work;

[0093] Step S3D: When the drone recognizes the QR code for leaving the confined space, the drone is controlled to fly out of the confined space and the indoor flight mode is changed to the normal flight mode, using the drone manufacturer's conventional flight and obstacle avoidance logic.

[0094] In one embodiment, when the drone is at a restricted intersection, there are multiple identifiable QR codes for turning in the direction of the arrow. To solve the turning problem under this condition, the turning instructions of the QR codes for turning in the direction of the arrow are formulated into multiple priorities in the program, which are represented by setting a hollow arrow in the middle of the QR code area. The direction of the hollow arrow represents the direction of the turning instruction, and a number is marked in the middle of the hollow arrow, which represents the current turning priority order. At this time, the order of turning is "1, 2, 3...", and the level number will be printed in the hollow arrow.

[0095] In one embodiment, corresponding to the turn instructions of multiple priorities, step S3: controlling the drone to perform flight inspection work in the safe flight channel according to the flight instructions obtained by identifying the QR code, further includes the following steps:

[0096] Step S3B2: When the drone recognizes multiple QR codes pointing in the direction of the arrow, the drone is controlled to execute the turns in order of the turning priority. For example, when there are three levels of turning instructions (1, 2, and 3) at the same time (a group of turning instructions), the drone will prioritize the turning instruction of level "1". After recognizing this group of turning instructions for the second time, the drone recognizes that the turning instruction of level "1" has been completed, so it will execute the turning instruction of level "2", and so on to complete the inspection work under multi-intersection conditions. Figure 6 shown.

[0097] In the second aspect, the application provides a construction site inspection system based on commercial drones that can be used indoors, including:

[0098] System building modules, used to build drone inspection indicator systems, including:

[0099] The three-dimensional flight channel layout unit is used to obtain the three-dimensional flight channel of the UAV based on the channel design in the confined space and the engineering site inspection task;

[0100] A channel identification unit, used to set a channel identification mark in a three-dimensional flight channel;

[0101] The flight indication unit is used to design a QR code attached to the channel wall of each indication position of the three-dimensional flight channel according to the on-site inspection task of the project and the spatial layout of the three-dimensional flight channel, and the QR code includes a safe flight channel limit QR code;

[0102] A safe flight channel construction module is connected to the system construction module for constructing a safe flight channel according to the safe flight channel limit QR code;

[0103] The flight control module is communicatively connected with the system building module and the safe flight channel building module, and is used to control the UAV to perform flight inspection work in the safe flight channel according to the flight instructions obtained by identifying the QR code.

[0104] Commercial drones can be used for indoor engineering site inspection systems. The implementation process is briefly described as follows:

[0105] 1) Complete the deployment of drone airports, networks, etc. according to the plan;

[0106] 2) Arrange the drone flight channel drone inspection sign system and key points of concern according to the site management requirements;

[0107] 3) Formulate automatic inspection routes and frequencies of drones according to management needs, or manually fly drones for inspections according to management needs;

[0108] 4) Save and use inspection videos according to management needs;

[0109] 5) Complete the drone airport and other hardware according to the plan, and store them after maintenance until the next use.

[0110] Among them, the functional implementation of each module in the above-mentioned engineering site inspection system based on commercial drones that can be used indoors corresponds to the steps in the above-mentioned engineering site inspection method embodiment based on commercial drones that can be used indoors, and their functions and implementation processes will not be repeated here one by one.

[0111] Here, other systems are briefly described.

[0112] The drone in this system uses a small commercial drone with RTK and high-definition camera functions.

[0113] The drone airport of this system is used for parking and charging drones when they are not in operation, and also serves as the initial point positioning. Similarly, the drone airport has the function of software integration, that is, the software and hardware required for the function claimed in this application (except for the on-site printing of the QR code as needed) are integrated into one, with plug-and-play capability.

[0114] The software system of the present application is used to realize the above functions, and mainly has the following features: after recognizing the QR code of entering a confined space, the safety logic of flight and obstacle avoidance is switched to indoor, so that the drone can fly in a small indoor space; Figure 4 The digital safe flight channel shown is used to calculate and ensure the flight safety of the drone in a small space; recognize the QR code and build a digital safe flight channel based on the preset mathematical function model; fly in the safe flight channel under the preset flight safety rules, such as Figure 4 As shown, keep h with the secure flight channel digital edge 安distance; shoot project implementation video, realize inspection function, and complete key inspection work according to QR code instructions, etc.

[0115] In summary, the indoor engineering inspection system based on commercial drones can achieve safe flight in small indoor spaces and complete on-site inspections of projects. It can not only improve the on-site inspection efficiency of managers, but also automatically complete the inspection plan, reducing the burden on managers, improving management efficiency, and has high implementation value.

[0116] On the third aspect, an embodiment of the present application provides an engineering site inspection device based on a commercial drone that can be used indoors. The engineering site inspection device based on a commercial drone that can be used indoors can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0117] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the engineering site inspection equipment based on commercial drones that can be used indoors, and the interface used to realize the interconnection between the engineering site inspection equipment based on commercial drones that can be used indoors and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0118] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0119] The processor may be a general-purpose processor, which may call the engineering site inspection program based on commercial drones that can be used indoors stored in the memory, and execute the engineering site inspection method based on commercial drones that can be used indoors provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). Among them, the method executed when the engineering site inspection program based on commercial drones that can be used indoors is called may refer to the various embodiments of the engineering site inspection method based on commercial drones that can be used indoors in the present application, which will not be repeated here.

[0120] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0121] The readable storage medium of the present application stores a program for on-site inspection of engineering projects based on commercial drones that can be used indoors. When the program for on-site inspection of engineering projects based on commercial drones that can be used indoors is executed by a processor, the steps of the method for on-site inspection of engineering projects based on commercial drones that can be used indoors as described above are implemented.

[0122] Among them, the method implemented when the program for indoor engineering site inspection based on commercial drones is executed can refer to the various embodiments of the method for indoor engineering site inspection based on commercial drones in this application, and will not be repeated here.

[0123] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0124] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0125] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for indoor engineering site inspection based on commercial drones. It is characterized in that The following steps are involved: Building a drone inspection indication system includes the following steps: Obtain the three-dimensional flight channel of the drone based on the channel design in the confined space and the on-site inspection tasks; Setting channel identification marks in the three-dimensional flight channel; According to the on-site inspection tasks and the spatial layout of the three-dimensional flight channel, a QR code is designed to be attached to the channel wall of each indicator position of the three-dimensional flight channel, and the QR code includes a safe flight channel limit QR code; Construct a safe flight channel based on the safe flight channel limit QR code; Control the drone to perform flight inspections within the safe flight channel according to the flight instructions obtained by identifying the QR code.

2. The method for indoor engineering site inspection based on a commercial drone as claimed in claim 1, It is characterized in that The QR codes in the step of constructing the drone inspection indication system include but are not limited to a QR code for entering a confined space, a QR code for limiting a safe flight channel, a QR code for turning in the direction of an arrow, a QR code for focusing attention, and a QR code for leaving a confined space.

3. The method for indoor engineering site inspection based on commercial drones as claimed in claim 2, It is characterized in that The control of the UAV to perform flight inspection work in the safe flight channel according to the flight instructions obtained by identifying the QR code specifically includes the following steps: When the drone recognizes the QR code for entering a confined space, it controls the drone to fly into the confined space and changes the normal flight mode to the indoor flight mode; When the drone recognizes a single QR code pointing in the direction of the arrow, it controls the drone to hover at a specified distance and turn in place in the direction indicated by the arrow; When the drone recognizes the key QR code, the drone is controlled to hover and take a high-definition video of the key object obtained by recognizing the key QR code in the restricted space; When the drone recognizes the QR code for leaving the confined space, it controls the drone to fly out of the confined space and changes the indoor flight mode to the normal flight mode.

4. The method for indoor engineering site inspection based on commercial drones as claimed in claim 1, It is characterized in that The construction of the safe flight channel according to the safe flight channel limit QR code is based on the following rules: The safe flight channel starts to be generated at the QR code when entering the confined space; The safe flight channel is a rectangular channel formed by a set of safe flight channel limit QR codes or a quasi-rectangular channel formed by a plurality of rectangular Booleans; The safe flight channel is generated at the safe flight channel limit QR code and extends infinitely; When another set of safe flight channel limit QR codes or a QR code turning in the direction of the arrow is identified, the safe flight channel generation is terminated; The safe flight channel ends when leaving the confined space; Among them, a set of safe flight channel limit QR codes is an even number of safe flight channel limit QR codes not less than 4.

5. The method for indoor engineering site inspection based on commercial drones as claimed in claim 4, It is characterized in that The method of forming a rectangular channel by using a set of safe flight channel limit QR codes specifically includes the following steps: Taking the center of the safe flight channel limit QR code as the origin, translate the preset positioning distance in the horizontal and vertical directions in the direction of the arrow to obtain the limit positioning point of the safe flight channel data edge line; The four adjacent limiting positioning points are connected to form the rectangular channel.

6. The method for indoor engineering site inspection based on commercial drones as claimed in claim 1, It is characterized in that The channel identification mark in the step of setting the channel identification mark in the three-dimensional flight channel is a luminous mark or a light mark.

7. The method for indoor engineering site inspection based on commercial drones as claimed in claim 2, It is characterized in that The step of designing the two-dimensional code of each indicator position of the three-dimensional flight channel according to the on-site inspection task of the project and the spatial layout of the three-dimensional flight channel also includes an indicator graphic and a distance measuring scale; The indication graphic is located in the middle of the QR code area and is used to visually indicate the QR code indication function of the current position; The distance measuring scale is located around the two-dimensional code area and is aligned along the edge for use in drone distance measurement.

8. The method for indoor engineering site inspection based on commercial drones as claimed in claim 2, It is characterized in that The turning indication of the QR code in the direction of the arrow has multiple priorities, which is represented by a hollow arrow set in the middle of the QR code area. The direction of the hollow arrow represents the turning indication direction, and a number is marked in the middle of the hollow arrow, which represents the current turning priority order.

9. The method for indoor engineering site inspection based on commercial drones as claimed in claim 8, It is characterized in that The controlling the UAV to perform flight inspection work in the safe flight channel according to the flight instructions obtained by identifying the QR code also includes the following steps: When the drone recognizes multiple QR codes pointing in the direction of the arrows, the drone is controlled to turn in order of priority.

10. A construction site inspection system based on commercial drones that can be used indoors. It is characterized in that include: System building modules, used to build drone inspection indicator systems, including: The three-dimensional flight channel layout unit is used to obtain the three-dimensional flight channel of the UAV based on the channel design in the confined space and the engineering site inspection task; A channel identification unit, used to set a channel identification mark in a three-dimensional flight channel; The flight indication unit is used to design a QR code attached to the channel wall of each indication position of the three-dimensional flight channel according to the on-site inspection task of the project and the spatial layout of the three-dimensional flight channel, and the QR code includes a safe flight channel limit QR code; A safe flight channel construction module is connected to the system construction module for constructing a safe flight channel according to the safe flight channel limit QR code; The flight control module is communicatively connected with the system building module and the safe flight channel building module, and is used to control the UAV to perform flight inspection work in the safe flight channel according to the flight instructions obtained by identifying the QR code.

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