Safety inspection method, device and equipment for unmanned aerial vehicle, and medium

Abstract

The invention discloses a safety inspection method, device and equipment for an unmanned aerial vehicle and a medium, and relates to the field of unmanned aerial vehicle control, and the method comprises the steps: obtaining a take-off space position, a real-time space position, a real-time state parameter, a preset state parameter and a target inspection path of the unmanned aerial vehicle; according to the take-off space position, the real-time space position, the real-time state parameter, a preset state parameter and a target inspection path of the unmanned aerial vehicle, whether the unmanned aerial vehicle can return to the take-off space position along the target inspection path at the real-time space position is detected, and a first detection result is obtained; according to the take-off space position, the real-time space position, the real-time state parameter and the preset state parameter, whether the unmanned aerial vehicle can return to the take-off space position in a straight line at the real-time space position is detected, and a second detection result is obtained; and generating inspection warning information according to the first detection result and the second detection result to prompt a control personnel of the unmanned aerial vehicle to timely control the unmanned aerial vehicle to finish inspection and return voyage, so that the inspection safety of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle control, and in particular to a safety inspection method, device, equipment and medium for unmanned aerial vehicles. Background Art

[0002] In recent years, drone technology has continued to develop and its application scope has expanded to many fields such as map production, monitoring and equipment inspection.

[0003] If the inspection route set by the drone before performing the inspection mission is long or the flight environment of the drone is harsh, the drone battery may be insufficient during the inspection process, which may cause the drone to fail to successfully return to the take-off position, or even make an emergency landing due to lack of power during the mission, posing a safety hazard. Summary of the invention

[0004] The present invention provides a safety inspection method, device, equipment and medium for an unmanned aerial vehicle, so as to improve the inspection safety of the unmanned aerial vehicle.

[0005] In a first aspect, the present invention provides a safety inspection method of an unmanned aerial vehicle, comprising:

[0006] Obtain the take-off spatial position, real-time spatial position, real-time status parameters, preset status parameters and target inspection path of the drone; wherein the target inspection path includes the spatial position of at least one target inspection point; wherein the target inspection point is determined based on the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the drone, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data;

[0007] According to the take-off space position, the real-time space position, the real-time state parameter, the preset state parameter and the target inspection path of the UAV, it is detected whether the UAV can return to the take-off space position along the target inspection path at the real-time space position to obtain a first detection result;

[0008] According to the take-off space position, the real-time space position, the real-time state parameter and the preset state parameter, detecting whether the UAV can return to the take-off space position in a straight line at the real-time space position, and obtaining a second detection result;

[0009] An inspection alarm message is generated according to the first detection result and the second detection result to prompt the control personnel of the UAV to promptly control the UAV to end the inspection and return.

[0010] In a second aspect, the present invention further provides a safety inspection device for an unmanned aerial vehicle, comprising:

[0011] A path acquisition module, used to acquire the take-off spatial position, real-time spatial position, real-time status parameters, preset status parameters and target inspection path of the drone; wherein the target inspection path includes the spatial position of at least one target inspection point; wherein the target inspection point is determined based on the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the drone, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data;

[0012] The first detection module is used to detect whether the drone can return to the take-off space position along the target inspection path at the real-time space position according to the take-off space position, the real-time space position, the real-time state parameter, the preset state parameter and the target inspection path of the drone, and obtain a first detection result;

[0013] The second detection module is used to detect whether the UAV can return to the take-off space position in a straight line at the real-time space position according to the take-off space position, the real-time space position, the real-time state parameter and the preset state parameter, and obtain a second detection result;

[0014] The alarm module is used to generate inspection alarm information according to the first detection result and the second detection result to prompt the control personnel of the drone to control the drone to end the inspection and return in time.

[0015] In a third aspect, an embodiment of the present invention further provides an electronic device, including:

[0016] at least one processor; and

[0017] a memory communicatively coupled to at least one processor; wherein

[0018] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can execute the safety inspection method of the drone provided in any embodiment of the present invention.

[0019] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a processor to implement the safety inspection method of a drone of any embodiment of the present invention when executed.

[0020] The embodiments of the present invention can determine the target inspection points in advance according to the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the drone, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data before the drone performs the inspection task, so as to ensure that the drone can complete the inspection of the target inspection points and improve the safety of the inspection; and during the inspection process of the drone, according to the real-time status parameters of the drone, it is detected in real time whether the drone can return, and corresponding alarm information is generated to warn the technicians to control the drone to end the inspection and return, which can effectively avoid the accident that the drone is forced to land due to insufficient energy, and further improve the safety of the drone during the inspection process.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a flow chart of a safety inspection method for a drone provided according to Embodiment 1 of the present invention;

[0024] Figure 2 is a flow chart of a drone safety inspection method provided according to Embodiment 2 of the present invention;

[0025] Figure 3A is a flow chart of a safety inspection method for a drone provided according to Embodiment 3 of the present invention;

[0026] Figure 3B is a schematic diagram of a process for generating a target inspection path according to Embodiment 3 of the present invention;

[0027] Figure 4A is a flow chart of a safety inspection method for a drone provided according to a fourth embodiment of the present invention;

[0028] Figure 4B is a schematic diagram of a tangent circle provided according to Embodiment 4 of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of a safety inspection device for an unmanned aerial vehicle provided according to a fifth embodiment of the present invention;

[0030] Figure 6 It is a structural schematic diagram of an electronic device for implementing the safety inspection method of a drone according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first" and "second" and the like in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] In the technical solution of the embodiment of the present invention, the acquisition, storage and application of the real-time spatial position and real-time status parameters involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0034] Embodiment 1

[0035] Figure 1 A flow chart of a safety inspection method for an unmanned aerial vehicle provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of safety inspection of unmanned aerial vehicles. The method can be executed by a safety inspection device for an unmanned aerial vehicle. The safety inspection device for an unmanned aerial vehicle can be implemented in the form of hardware and / or software and specifically configured in an electronic device, such as a unmanned aerial vehicle or a server.

[0036] See also Figure 1 The safety inspection method of the drone shown includes:

[0037] S101. Obtain the take-off spatial position, real-time spatial position, real-time status parameters, preset status parameters and target inspection path of the UAV; wherein the target inspection path includes the spatial position of at least one target inspection point; wherein the target inspection point is determined based on the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the UAV, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data.

[0038] S102. According to the take-off space position, the real-time space position, the real-time state parameters, the preset state parameters and the target inspection path of the UAV, detect whether the UAV can return to the take-off space position along the target inspection path at the real-time space position to obtain a first detection result.

[0039] S103, according to the take-off space position, the real-time space position, the real-time state parameter and the preset state parameter, detecting whether the UAV can return to the take-off space position in a straight line at the real-time space position, and obtaining a second detection result.

[0040] S104: Generate patrol warning information according to the first detection result and the second detection result to prompt the control personnel of the drone to promptly control the drone to end the patrol and return.

[0041] In this embodiment, the spatial position may refer to the position in three-dimensional space, including but not limited to altitude, longitude and latitude, etc.; the take-off spatial position may be the spatial position of the take-off point of the drone; the real-time spatial position may be the real-time spatial position of the drone during the inspection process. The real-time state parameters may be the real-time state parameters of the drone during the inspection process; the preset state parameters may include but are not limited to the pre-take-off state parameters and the grounding state parameters; wherein the pre-take-off state parameters may be the state parameters of the drone before it is powered on and takes off; the grounding state parameters may be the state parameters of the drone when the energy is exhausted; the state parameters may include but are not limited to at least one of the flight speed, flight time, current, voltage, hydrogen storage, etc.; in this embodiment, the fuel cell of the drone includes a hydrogen bottle and a stack, and the hydrogen bottle can be used to transport hydrogen to the stack to generate electricity. In an optional embodiment, the pre-take-off state parameters can be set by a technician, or determined by detecting the drone before take-off.

[0042] The target inspection path may be the inspection path of the inspection task being performed by the drone; the target inspection point is the inspection point in the target inspection path. The building to be inspected is the building planned to be inspected; it should be noted that the building in the present invention may refer to an artificially constructed object, not specifically a house. The geospatial information may include but is not limited to the coordinate information and size information of the building to be inspected in three-dimensional space. The maximum endurance flight time may be the maximum time that the drone can fly continuously. The building type is the type of the building to be inspected, which may include but is not limited to a straight pole tower and a corner pole tower. The cable hanging point may be a point in the building to be inspected for hanging cables. The pod type may refer to the type of pod carried by the drone. The maximum pitch measurement range of the pod may be the maximum detectable length of the drone in the vertical direction, which may be determined in advance by the maximum pitch angle of the drone in the vertical direction; the minimum inspection safety distance may be the minimum distance between the drone and the building to be inspected. The estimated inspection data may include but is not limited to the estimated inspection time and the estimated flight speed at each target inspection point.

[0043] In this embodiment, the first detection result can be used to characterize whether the drone can return to the take-off space position along the target inspection path at the real-time space position. The second detection result can be used to characterize whether the drone can return to the take-off space position in a straight line at the real-time space position. The inspection warning information can be used to remind the drone controller of the safety of the drone inspection, so that the controller can promptly control the drone to end the inspection and return.

[0044] Specifically, a certain algorithm is used to detect whether the UAV can return to the take-off space position along the target inspection path at the real-time space position according to the take-off space position, real-time space position, real-time state parameters, preset state parameters and the target inspection path of the UAV, so as to obtain a first detection result; and a certain algorithm is used to detect whether the UAV can return to the take-off space position in a straight line at the real-time space position according to the take-off space position, real-time space position, real-time state parameters and preset state parameters, so as to obtain a second detection result.

[0045] If the first detection result is that the UAV cannot return to the take-off space position along the target inspection path at the real-time space position, and the second detection result is that the UAV can return to the take-off space position in a straight line at the real-time space position, then a corresponding inspection alarm message is generated to prompt the technician whether to control the UAV to end the inspection and return; if the first detection result is that the UAV cannot return to the take-off space position along the target inspection path at the real-time space position, and the second detection result is that the UAV cannot return to the take-off space position in a straight line at the real-time space position, then an inspection alarm message is generated to prompt the technician whether to end the inspection, and prompt the technician to update the target inspection path, and control the UAV to return according to the updated inspection path; if the UAV can return to the take-off space position along the target inspection path at the real-time space position, and the second detection result is that the UAV can return to the take-off space position in a straight line at the real-time space position, then no inspection alarm message is generated.

[0046] In an optional embodiment, if the technician updates the target inspection path, after receiving the set return path input by the technician, the technician can detect whether the drone can return to the take-off space position along the updated target inspection path at the real-time space position based on the take-off space position, real-time space position, real-time status parameters, preset status parameters and updated target inspection path, obtain a third detection result, and generate inspection alarm information based on the first detection result and the third detection result; it should be noted that the process of determining the third detection result is similar to the process of determining the first detection result, and the process of generating inspection alarm information based on the first detection result and the third detection result is similar to the process of generating inspection alarm information based on the first detection result and the second detection result, which will not be repeated here.

[0047] The embodiments of the present invention can determine the target inspection points in advance according to the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the drone, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data before the drone performs the inspection task, so as to ensure that the drone can complete the inspection of the target inspection points and improve the safety of the inspection; and during the inspection process of the drone, according to the real-time status parameters of the drone, it is detected in real time whether the drone can return, and corresponding alarm information is generated to warn the technicians to control the drone to end the inspection and return, which can effectively avoid the accident that the drone is forced to land due to insufficient energy, and further improve the safety of the drone during the inspection process.

[0048] Embodiment 2

[0049] Figure 2This is a flow chart of a safety inspection method for an unmanned aerial vehicle provided in Embodiment 2 of the present invention. Based on the technical solutions of the above embodiments, this embodiment of the present invention optimizes and improves the operation of determining the first detection result.

[0050] Further, "according to the take-off spatial position, real-time spatial position, real-time state parameters, preset state parameters and the target inspection path of the UAV, detect whether the UAV can return to the take-off spatial position along the target inspection path at the real-time spatial position to obtain a first detection result" is refined into "according to the real-time state parameters and the preset state parameters, determine the remaining endurance distance of the UAV at the real-time spatial position; according to the take-off spatial position, the real-time spatial position and the spatial position of at least one target inspection point in the target inspection path, determine at least one inspected point from each target inspection point, and determine the spatial position of each inspected point; according to the spatial position of each inspected point and the take-off spatial position, determine the inspected flight distance of the UAV; according to the inspected flight distance and the remaining endurance distance, detect whether the UAV can return to the take-off spatial position along the target inspection path at the real-time spatial position to obtain a first detection result" to improve the determination operation of the first detection result.

[0051] It should be noted that, for the parts not described in detail in the embodiments of the present invention, reference may be made to the descriptions in the aforementioned embodiments.

[0052] See also Figure 2 The safety inspection method of the drone shown includes:

[0053] S201. Obtain the take-off spatial position, real-time spatial position, real-time status parameters, preset status parameters and target inspection path of the UAV; wherein the target inspection path includes the spatial position of at least one target inspection point; wherein the target inspection point is determined based on the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the UAV, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data.

[0054] S202: Determine the remaining cruising distance of the UAV at the real-time spatial position according to the real-time state parameters and the preset state parameters.

[0055] In this embodiment, the remaining endurance distance may be the distance that the drone can still fly continuously at the real-time spatial position. Specifically, a certain algorithm is used to determine the remaining endurance distance of the drone at the real-time spatial position according to the real-time state parameters and the preset state parameters.

[0056] Optionally, the real-time status parameters include the real-time average flight speed and real-time power consumption in a unit time period, as well as the real-time hydrogen reserve and the real-time total power consumption; the preset status parameters are the preset hydrogen reserve; the remaining cruising distance of the UAV at the real-time spatial position is determined based on the real-time status parameters and the preset status parameters, including: determining the remaining flight energy of the UAV at the real-time spatial position based on the real-time total power consumption, the preset hydrogen reserve and the real-time hydrogen reserve; determining the remaining cruising distance of the UAV at the real-time spatial position based on the remaining flight energy, the real-time power consumption in a unit time period, the real-time average flight speed and the remaining cruising time at the real-time spatial position.

[0057] Among them, the real-time average flight speed can be the real-time average flight speed in a unit time period; the real-time power consumption can be the real-time power consumption in a unit time period; it should be noted that the length of the unit time period can be set independently by the technical personnel, and the present invention does not limit this. The real-time total power consumption can be the real-time total power consumption of the self-drone during the inspection process. The real-time hydrogen inventory can be the hydrogen data of the drone obtained by real-time detection; the preset hydrogen inventory can include but is not limited to the hydrogen inventory before takeoff and the grounded hydrogen inventory; the hydrogen inventory before takeoff can be the hydrogen inventory in the hydrogen bottle of the drone before takeoff; the grounded hydrogen inventory can be the hydrogen inventory in the hydrogen bottle of the drone when the energy is exhausted;

[0058] Specifically, the difference in hydrogen reserves between the hydrogen reserves before takeoff and the hydrogen reserves before takeoff is calculated to obtain the real-time hydrogen usage of the drone during flight; the difference in hydrogen reserves between the real-time hydrogen reserves and the hydrogen reserves before takeoff is calculated to obtain the real-time available hydrogen reserves of the drone; the ratio between the real-time hydrogen usage and the available hydrogen reserves is calculated to obtain the hydrogen reserves multiple of the real-time hydrogen usage compared to the available hydrogen reserves; the remaining flight energy of the drone at the real-time spatial position is calculated according to the hydrogen reserves multiple and the real-time total power consumption; illustratively, the remaining flight energy can be determined by the following formula:

[0059]

[0060] Among them, Q left Indicates the remaining flight energy of the drone; B indicates the hydrogen storage multiple; Q rt Indicates the total real-time power consumption; H z Indicates the real-time hydrogen usage; H c Indicates the available hydrogen inventory.

[0061] According to the remaining flight energy and the real-time power consumption per unit time period, the number of remaining flight cycles of the UAV is calculated; according to the number of remaining flight cycles and the length of the unit time period, the remaining flight time of the UAV at the real-time spatial position is determined; illustratively, the remaining flight time of the UAV at the real-time spatial position can be determined by the following formula:

[0062]

[0063] Among them, t left Indicates the remaining battery life; T1 indicates the duration of the unit time period; Q left Indicates the remaining flight energy; Q a Indicates the real-time power consumption within a unit time period;

[0064] According to the real-time average flight speed and the remaining endurance time at the real-time spatial position, the remaining endurance distance of the UAV at the real-time spatial position is determined; illustratively, the remaining endurance distance of the UAV at the real-time spatial position can be determined by the following formula:

[0065] L left =V rt ×t left ;

[0066] Among them, L left Indicates the remaining cruising distance; V rt Indicates the real-time average flight speed; t left Indicates the remaining battery life.

[0067] It can be understood that by adopting the above-mentioned technical scheme, the remaining flight energy of the UAV at the real-time spatial position can be determined based on the real-time total power consumption, the preset hydrogen inventory and the real-time hydrogen inventory; based on the remaining flight energy, the real-time power consumption per unit time period, the real-time average flight speed and the remaining endurance time at the real-time spatial position, the remaining endurance distance of the UAV can be accurately determined in real time during the inspection flight of the UAV, thereby improving the real-time and accuracy of the remaining endurance distance.

[0068] In an optional embodiment, the hydrogen volume, hydrogen temperature and hydrogen pressure can be used to determine the hydrogen inventory; illustratively, the hydrogen inventory can be determined by the following formula:

[0069]

[0070] Among them, H represents the hydrogen stock; P represents the hydrogen pressure; V represents the hydrogen volume; R represents the ideal gas constant; and T represents the hydrogen temperature.

[0071] In an optional embodiment, before obtaining the pre-takeoff hydrogen inventory and the grounded hydrogen inventory, the pre-takeoff hydrogen inventory can be calculated based on the pre-takeoff hydrogen volume, the pre-takeoff hydrogen temperature, the pre-takeoff hydrogen pressure and the above-mentioned formula for determining the hydrogen inventory, and the grounded hydrogen inventory can be calculated based on the grounded hydrogen volume, the grounded hydrogen temperature, the grounded hydrogen pressure and the above-mentioned formula for determining the hydrogen inventory.

[0072] In an optional embodiment, the output current and output voltage of the fuel cell of the drone can be collected in real time during the inspection process of the drone; the real-time total power consumption of the drone is calculated based on the output and output voltage collected at each moment during the inspection process.

[0073] S203, determining at least one inspected point from each target inspection point according to the take-off spatial position, the real-time spatial position and the spatial position of at least one target inspection point in the target inspection path, and determining the spatial position of each inspected point.

[0074] In this embodiment, the inspected point may be a point that the drone has already inspected. Specifically, a target inspection point whose spatial position is between the take-off spatial position and the real-time spatial position may be searched, the found target inspection point may be determined as the inspected point, and the spatial position of the found target inspection point may be determined as the spatial position of the corresponding inspected point.

[0075] S204: Determine the inspected flight distance of the UAV according to the spatial position of each inspected point and the take-off spatial position.

[0076] Specifically, according to the spatial position of each two adjacent inspected points in the target inspection path, the first distance between each two inspected points is calculated respectively, and according to the spatial position of the first inspected point in the target inspection path and the take-off spatial position, the second distance is calculated; wherein, the first inspected point can be the target inspection point corresponding to the starting position of the target inspection path; the first distance and the second distance are added to obtain the inspected flight distance. Optionally, a semi-positive function can be used to calculate the horizontal distance between each two inspected points according to the coordinates of each two adjacent inspected points in the target inspection path; calculate the height difference between each two inspected points; calculate the first distance between each two inspected points according to the height difference and the horizontal distance; it should be noted that the calculation process of the second distance is similar to the calculation process of the first distance, which will not be repeated here.

[0077] S205. According to the inspected flight distance and the remaining endurance distance, detect whether the UAV can return to the take-off space position along the target inspection path at the real-time space position to obtain a first detection result.

[0078] Specifically, if the inspected flight distance is greater than the remaining endurance distance, the first detection result is determined to be that the UAV cannot return to the take-off space position along the target inspection path at the real-time space position; if the inspected flight distance is less than the remaining endurance distance, the first detection result is determined to be that the UAV can return to the take-off space position along the target inspection path at the real-time space position.

[0079] S206. According to the take-off space position, the real-time space position, the real-time state parameter and the preset state parameter, detect whether the UAV can return to the take-off space position in a straight line at the real-time space position to obtain a second detection result.

[0080] Specifically, according to the take-off space position and the real-time space position, the straight-line distance between the real-time space position and the take-off space position is calculated; according to the real-time state parameters and the preset state parameters, the remaining cruising distance of the UAV at the real-time space position is determined; if the straight-line distance is greater than the remaining cruising distance, the first detection result is determined to be that the UAV cannot return to the take-off space position in a straight line at the real-time space position; if the straight-line distance is less than the remaining cruising distance, the first detection result is determined to be that the UAV can return to the take-off space position in a straight line at the real-time space position. It should be noted that the calculation process of the straight-line distance is similar to the calculation process of the first distance, which will not be repeated here.

[0081] S207: Generate patrol warning information according to the first detection result and the second detection result to prompt the control personnel of the drone to promptly control the drone to end the patrol and return.

[0082] The embodiments of the present invention can determine the remaining cruising distance of the UAV at the real-time spatial position according to the real-time status parameters and the preset status parameters; determine at least one inspected point from each target inspection point, and determine the spatial position of each inspected point according to the take-off spatial position, the real-time spatial position and the spatial position of at least one target inspection point in the target inspection path; determine the inspected flight distance of the UAV according to the spatial position of each inspected point and the take-off spatial position; detect whether the UAV can return to the take-off spatial position along the target inspection path at the real-time spatial position according to the inspected flight distance and the remaining cruising distance, and obtain a first detection result, so that during the inspection process of the UAV, it is detected in real time whether the UAV can return to the take-off spatial position along the target inspection path at the real-time spatial position, thereby improving the real-time and accuracy of the first detection result, thereby ensuring the safe inspection of the UAV.

[0083] Embodiment 3

[0084] Figure 3A This is a flow chart of a safety inspection method for an unmanned aerial vehicle provided in Embodiment 3 of the present invention. This embodiment of the present invention is based on the technical solutions of the above embodiments and has been additionally optimized.

[0085] Furthermore, before "obtaining the take-off spatial position, real-time spatial position, real-time status parameters, preset status parameters and target inspection path of the drone", add "obtaining the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the drone, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data of the drone; wherein the minimum inspection safety distance is the minimum inspection safety distance between the drone and the building to be inspected; for each building to be inspected, determine at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the geographic spatial information of the building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the pod type, the maximum pitch measurement range of the pod and the minimum inspection safety distance; select at least one target inspection point from each candidate inspection point according to the spatial position of the candidate inspection point of each building to be inspected, the estimated inspection data and the maximum endurance flight time" to improve the determination operation of the target inspection point.

[0086] It should be noted that, for the parts not described in detail in the embodiments of the present invention, reference may be made to the descriptions in the aforementioned embodiments.

[0087] See also Figure 3A The safety inspection method of the drone shown includes:

[0088] S301. Obtain the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the UAV, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data of the UAV; wherein the minimum inspection safety distance is the minimum inspection safety distance between the UAV and the building to be inspected.

[0089] S302. For each building to be inspected, determine at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected based on the geographic spatial information of the building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the pod type, the maximum pitch measurement range of the pod and the minimum inspection safety distance.

[0090] In this embodiment, the candidate inspection points may be the inspection points corresponding to the buildings to be inspected. Specifically, a certain algorithm is used to determine, for each building to be inspected, at least one candidate inspection point of the building to be inspected and the spatial positions of each candidate inspection point of the building to be inspected according to the geographic spatial information of the building to be inspected, the pod type, the maximum pitch measurement range of the pod, and the minimum inspection safety distance.

[0091] S303: selecting at least one target inspection point from each candidate inspection point according to the spatial position of each candidate inspection point of each building to be inspected, the estimated inspection data and the maximum endurance flight duration.

[0092] In this embodiment, the estimated inspection data may include but are not limited to the estimated inspection point operation time and the estimated flight speed, etc.; the estimated inspection point operation time may be the time for performing the inspection operation at the inspection point. The target inspection point may be the inspection point that the drone ultimately needs to inspect.

[0093] Specifically, a candidate inspection path is generated based on the spatial position of each candidate inspection point of each building to be inspected; for every two adjacent candidate inspection points on the candidate inspection path, the distance between the two adjacent candidate inspection points is calculated; based on the distance between the two adjacent candidate inspection points and the estimated flight speed, the flight time of the drone between the two adjacent candidate inspection points is calculated respectively; starting from the starting inspection point of each candidate inspection path, the candidate inspection points are selected one by one as target inspection points in accordance with the inspection order of the candidate inspection path, and based on the flight time between each two adjacent target inspection points and the estimated inspection point operation time of the drone at each target inspection point, the total time required for the drone to inspect each target inspection node is calculated, until the total time is the maximum value under the condition of being less than the maximum endurance flight time, and the final target inspection point is obtained; the target inspection path is generated based on the target inspection point. Exemplarily, the total time required for the drone to inspect each target inspection node can be determined by the following formula:

[0094]

[0095] Among them, t task Indicates the total time required for the drone to inspect each target inspection node; N point Indicates the number of target inspection points; t ki represents the estimated inspection point operation time of the i-th target inspection point; t li Indicates the time required to fly from the i-1th target inspection point to the i-th target inspection point.

[0096] Optional, Figure 3B is a schematic diagram of a process for generating a target inspection path; in this embodiment, the geographic spatial information of the building to be inspected can be represented by a laser point cloud; Figure 3BAs shown, in the process of generating the target inspection route, points can be marked through the positioning network; the laser point cloud of the building to be inspected is verified; after the verification, the laser point cloud is corrected to determine the spatial position of each point on the building to be inspected; the drone safety inspection method described in any embodiment of the present invention is used to determine the candidate inspection points; for all candidate inspection points, the optimized firefly algorithm can be used to search for the best autonomously planned overall inspection route, and this process can also use deep learning image recognition to optimize the inspection route to obtain candidate inspection paths; after obtaining the candidate inspection paths, the candidate inspection paths can also be split based on the maximum endurance flight time to obtain the target inspection path.

[0097] It should be noted that S301, S302 and S303 are only executed once, and are used to determine at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected in advance based on the geographic spatial information of the building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the pod type, the maximum pitch measurement range of the pod and the minimum inspection safety distance; and to select at least one target inspection point from each candidate inspection point based on the spatial position of the candidate inspection point of each building to be inspected, the estimated inspection data and the maximum endurance flight time, so as to obtain the inspection points and inspection paths that enable the drone to conduct safe inspections before the drone conducts inspections, thereby improving the inspection safety of the drone.

[0098] S304. Obtain the take-off spatial position, real-time spatial position, real-time status parameters, preset status parameters and target inspection path of the UAV; wherein the target inspection path includes the spatial position of at least one target inspection point; wherein the target inspection point is determined based on the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the UAV, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data.

[0099] S305. According to the take-off space position, the real-time space position, the real-time state parameters, the preset state parameters and the target inspection path of the UAV, detect whether the UAV can return to the take-off space position along the target inspection path at the real-time space position to obtain a first detection result.

[0100] S306. According to the take-off space position, the real-time space position, the real-time state parameter and the preset state parameter, detect whether the UAV can return to the take-off space position in a straight line at the real-time space position to obtain a second detection result.

[0101] S307: Generate patrol warning information according to the first detection result and the second detection result to prompt the control personnel of the drone to promptly control the drone to end the patrol and return.

[0102] The embodiment of the present invention determines at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the geographic spatial information of the building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the pod type, the maximum pitch measurement range of the pod and the minimum inspection safety distance; and selects at least one target inspection point from each candidate inspection point according to the spatial position of the candidate inspection point of each building to be inspected, the estimated inspection data and the maximum endurance flight time, so that before the drone performs the inspection, each target inspection point whose total inspection time is less than the maximum endurance flight time of the drone is obtained, thereby ensuring that the drone can complete the inspection of each target inspection point when carrying the pod, avoiding low-power forced landing accidents, and improving the inspection safety of the drone.

[0103] Embodiment 4

[0104] Figure 4A This is a flow chart of a safety inspection method for an unmanned aerial vehicle provided in Embodiment 4 of the present invention. This embodiment of the present invention is based on the technical solutions of the above embodiments and has been additionally optimized.

[0105] Further, "determine at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the geographic spatial information of the building to be inspected, the pod type, the maximum pitch measurement range of the pod and the minimum inspection safety distance" is refined into "determine the spatial position of at least one point to be observed in the building to be inspected according to the geographic spatial information of the building to be inspected; if the pod type is a visual type, then determine at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the building type of the building to be inspected, the spatial position of each point to be observed, the maximum pitch measurement range of the pod and the minimum inspection safety distance; if the pod type is a partial discharge type, determine at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the spatial position of each cable hanging point, the spatial position of each point to be observed, the maximum pitch measurement range of the pod and the minimum inspection safety distance" to improve the operation of determining the candidate inspection points.

[0106] It should be noted that, for the parts not described in detail in the embodiments of the present invention, reference may be made to the descriptions in the aforementioned embodiments.

[0107] See also Figure 4A The safety inspection method of the drone shown includes:

[0108] S401. Obtain the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the UAV, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data of the UAV; wherein the minimum inspection safety distance is the minimum inspection safety distance between the UAV and the building to be inspected.

[0109] S402: Determine the spatial position of at least one observation point in the building to be inspected according to the geographic spatial information of the building to be inspected.

[0110] In this embodiment, the point to be observed may be a point in the building to be inspected that needs to be observed by the pod equipped by the drone, for example, a cable hanging point, the highest point or the lowest point of the building to be inspected, etc. Specifically, at least one point to be observed may be uniformly determined in the vertical direction according to the geographic spatial information of the building to be inspected, and the spatial position of each point to be observed may be obtained.

[0111] S403. If the pod type is a visual type, determine at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the building type of the building to be inspected, the spatial position of each observation point, the maximum pitch measurement range of the pod and the minimum inspection safety distance.

[0112] In this embodiment, a pod of a visual type is a visual pod. Specifically, at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected are determined according to the building type of the building to be inspected, the spatial position of each observation point, the maximum pitch measurement range of the pod and the minimum inspection safety distance.

[0113] Optionally, at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected are determined according to the type of building, the spatial position of each point to be observed, the maximum pitch measurement range of the pod and the minimum inspection safety distance, including: determining at least one candidate inspection point of the building to be inspected and the height of each candidate inspection point according to the spatial position of each point to be observed, the maximum pitch measurement range of the pod and the minimum inspection safety distance; if the building type is a straight pole tower, determining the coordinates of each candidate inspection point according to the spatial position of each point to be observed, the height of each candidate inspection point and the minimum inspection safety distance; if the building type is a corner pole tower, identifying at least one cable corner area in the building to be inspected, and obtaining the spatial information of each cable corner area; determining the coordinates of each candidate inspection point according to the spatial position of each point to be observed, the minimum inspection safety distance, the height of each candidate inspection point and the spatial information of each cable corner area.

[0114] The cable corner area may be the area where the cable changes direction in the corner tower. Specifically, the height of the building to be inspected is determined according to the highest and lowest heights in the spatial positions of the points to be observed; the ratio between the height of the building to be inspected and the maximum pitch measurement range of the pod is calculated, and the obtained ratio is taken upward; the rounded result is determined as the number of candidate inspection points on one side of the building to be inspected; illustratively, the number of candidate inspection points on one side can be determined by the following formula:

[0115]

[0116] Among them, N point，j represents the number of candidate inspection points on the jth side; h represents the height of the building to be inspected; x represents the maximum vertical detection range; [] represents rounding up.

[0117] According to the number of candidate inspection points in a single direction, the heights of the candidate inspection points are evenly distributed within the height range of the building to be inspected. For example, if the rounded result is 3, and the building to be inspected has 4 directions, the number of candidate inspection points is 12; each direction corresponds to a side of the building to be inspected.

[0118] If the building type is a straight pole tower, then for each height of the candidate inspection point, find the observation point that is located at the height and is farthest from the center of the building to be inspected, and use the farthest observation point found as the farthest point; for the farthest point on each side, determine the longitude and latitude values ​​of the candidate inspection point on that side at that height based on the longitude and latitude values ​​of the farthest point and the longitude and latitude values ​​of the highest point of the building to be inspected. Specifically, if the longitude value of the farthest point on that side is greater than or equal to the longitude value of the highest point of the building to be inspected, then calculate the sum of the longitude value of the farthest point on that side and the longitude value before the longitude value of the highest point, and determine the sum of the longitude values ​​obtained as the longitude value of the candidate inspection point on that side at that height; if the longitude value of the farthest point on that side is less than the longitude value of the highest point of the building to be inspected, then calculate the difference between the longitude value of the farthest point on that side and the longitude value before the longitude value of the highest point, and determine the difference in longitude values ​​obtained as the longitude of the candidate inspection point on that side at that height. value; if the latitude value of the farthest point on this side is greater than or equal to the latitude value of the highest point of the building to be detected, then calculate the difference between the latitude value of the farthest point on this side and the latitude value before the latitude value of the highest point, and determine the obtained latitude value difference as the latitude value of the candidate inspection point on this side at this height; if the latitude value of the farthest point on this side is less than the latitude value of the highest point of the building to be detected, then calculate the difference between the latitude value of the farthest point on this side and the latitude value before the latitude value of the highest point, and determine the obtained latitude value difference as the latitude value of the candidate inspection point on this side at this height.

[0119] If the building type is a corner pole tower, then at least one cable corner area in the building to be inspected and the spatial information of each cable corner area can be identified based on the geographic spatial information of the building to be inspected; wherein the direction of the first cable is different from the direction of the second cable; the spatial information of the cable corner area includes the angle of the cable angle between the first cable and the second cable in the cable corner area, and the first point to be observed in the direction of the first cable and the second point to be observed in the direction of the second cable of the corner pole tower in the cable corner area; for the cable corner area at the height of each candidate inspection point, determine a tangent circle with the minimum inspection safety distance as the radius, which is tangent to the direction of the first cable, tangent to the second cable, and tangent to the connecting line between the first point to be observed and the second point to be observed; use the connecting line between the tangent point on the first cable and the center of the tangent circle as the first connecting line, and use the connecting line between the tangent point on the second cable and the center of the tangent circle as the second connecting line; determine the angle between the first connecting line and the second connecting line, and determine the diagonal of the angle as the target angle. Optionally, Figure 4B is a schematic diagram of the target angle; Figure 4B As shown, angle a is the target angle; point A is the first farthest point, and the direction of the arrow of the solid line is the direction of the first cable; point B is the second farthest point, and the direction of the arrow of the solid line is the direction of the second cable; the radius of the tangent circle is the minimum inspection safety distance.

[0120] Specifically, according to the comparison result between the target angle, the cable angle and the set angle, the coordinates of the candidate inspection point corresponding to the cable corner area at the height are determined, including: if the cable angle is greater than the set angle threshold, then the process of determining the coordinates of the candidate inspection point in the cable corner area is similar to the process of determining the coordinates of each candidate inspection point according to the spatial position of each point to be observed, the height of each candidate inspection point and the minimum inspection safety distance, and will not be repeated here; wherein, the set angle threshold can be independently set by the technical personnel according to actual needs or actual experience, as long as it is greater than or equal to the theoretical maximum value of the target angle; in a specific embodiment, the set angle threshold can be

[0121] If the cable angle is less than the set angle threshold and the cable angle is greater than the target angle, the preset distance margin is obtained, and the minimum inspection safety distance and the distance margin are added to obtain the target distance; the point in the direction of the perpendicular bisector of the connecting line between the first point to be observed and the second point to be observed, the point whose distance from the connecting line is the target distance, is determined as the candidate inspection point of the cable corner area, and the coordinates of the determined point are determined as the coordinates of the candidate inspection point of the cable corner area.

[0122] If the cable angle is smaller than the target angle, a circle tangent to the direction of the first cable and the second cable is determined with the target distance as the radius, the center of the circle is determined as the candidate inspection point of the cable corner area, and the coordinates of the determined point are determined as the coordinates of the candidate inspection point of the cable corner area.

[0123] It can be understood that by adopting the above-mentioned technical scheme, at least one candidate inspection point of the building to be inspected and the height of each candidate inspection point can be determined based on the geographic spatial information, the maximum pitch measurement range of the pod and the minimum inspection safety distance; if the building type is a straight pole tower, the coordinates of each candidate inspection point are determined based on the geographic spatial position, the height of each candidate inspection point and the minimum inspection safety distance; if the building type is a corner pole tower, at least one cable corner area in the building to be inspected is identified to obtain the spatial information of each cable corner area; the coordinates of each candidate inspection point are determined based on the height of each candidate inspection point and the spatial information of each cable corner, and the spatial position of the candidate inspection point under each building type can be flexibly determined according to the different building types, thereby improving the flexibility of determining the candidate inspection waypoints and being applicable to a variety of practical application scenarios.

[0124] S404. If the pod type is a partial discharge type, determine at least one candidate inspection point of the building to be inspected and the spatial positions of each candidate inspection point of the building to be inspected according to the spatial positions of each cable hanging point, the spatial positions of each point to be observed, the maximum pitch measurement range of the pod and the minimum inspection safety distance.

[0125] Specifically, a certain algorithm is used to determine at least one candidate inspection point of the building to be inspected and the spatial positions of each candidate inspection point of the building to be inspected according to the spatial positions of each cable hanging point, the maximum pitch measurement range of the pod and the minimum inspection safety distance.

[0126] Optionally, according to the spatial position of each cable hanging point, the maximum pitch measurement range of the pod and the minimum inspection safety distance, at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected are determined, including: classifying the cable hanging points according to the spatial position of each cable hanging point to obtain cable hanging points in at least one direction; for each direction, constructing a cable hanging point combination for the direction; wherein the cable hanging point combination includes two cable hanging points; the two cable hanging points in the cable hanging point combination have different heights; for each cable hanging point combination, according to the spatial position of the cable hanging points in the cable hanging point combination, the maximum pitch measurement range of the pod and the minimum inspection safety distance, at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected are determined.

[0127] Specifically, according to the spatial position of each cable hanging point, the direction of each cable hanging point is determined, that is, it is determined on which side of the building to be inspected each cable hanging point is located; according to the direction of each cable hanging point, the cable hanging points are classified to obtain the cable hanging points in each direction; for each direction, a cable hanging point combination in the direction is constructed; wherein the cable hanging point combination includes two cable hanging points; the heights of the two cable hanging points in the cable hanging point combination are different; for each cable hanging point in the cable hanging point combination, with the cable hanging point as the center of the circle, according to a preset radius, an auxiliary circle corresponding to the cable hanging point is determined; wherein the preset radius can be independently set by technical personnel according to actual needs or practical experience, and the present invention does not limit this. It only needs to be preset that the radius is greater than the minimum inspection safety distance and less than the maximum detectable distance of the partial discharge pod; the maximum detectable distance can be determined according to the model of the partial discharge pod, and the maximum detectable distance can be the maximum distance between the pod and the point to be detected when the pod can work effectively.

[0128] If the two auxiliary circles intersect and the height of the intersection is greater than the height of any cable hanging point in the cable hanging point combination, then the spatial position of a candidate inspection point is determined for the cable hanging point combination according to the spatial positions of the two cable hanging points in the cable hanging point group, the maximum pitch measurement range of the pod and the minimum inspection safety distance; otherwise, the spatial positions of a candidate inspection point are determined for each of the two cable hanging points in the cable hanging point combination according to the spatial positions of the two cable hanging points in the cable hanging point group, the maximum pitch measurement range of the pod and the minimum inspection safety distance.

[0129] It can be understood that by adopting the above technical scheme, the cable hanging points can be classified according to the spatial position of each cable hanging point to obtain cable hanging points in at least one direction; for each direction, a cable hanging point combination of the direction is constructed; for each cable hanging point combination, according to the spatial position of the cable hanging points in the cable hanging point combination, the maximum pitch measurement range of the pod and the minimum inspection safety distance, at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected are determined, which can ensure that the determined candidate inspection point can inspect each cable hanging point in the building to be inspected, avoid missing some cable hanging points, and thus improve the inspection accuracy; and when the two auxiliary circles intersect, a candidate inspection point is determined for each cable hanging point combination, so that the drone can inspect both cable hanging points in the cable hanging point combination at the candidate inspection point, thereby reducing the number of candidate inspection points, and then reducing the flight distance required for the drone to perform the inspection, thereby improving the inspection efficiency and safety.

[0130] S405: selecting at least one target inspection point from each candidate inspection point according to the spatial position of each candidate inspection point of each building to be inspected, the estimated inspection data and the maximum endurance flight duration.

[0131] S406. Obtain the take-off spatial position, real-time spatial position, real-time status parameters, preset status parameters and target inspection path of the UAV; wherein the target inspection path includes the spatial position of at least one target inspection point; wherein the target inspection point is determined based on the geographic spatial information of at least one building to be inspected, the maximum endurance flight time of the UAV, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data.

[0132] S407. According to the take-off space position, the real-time space position, the real-time state parameters, the preset state parameters and the target inspection path of the UAV, detect whether the UAV can return to the take-off space position along the target inspection path at the real-time space position to obtain a first detection result.

[0133] S408. According to the take-off space position, the real-time space position, the real-time state parameter and the preset state parameter, detect whether the UAV can return to the take-off space position in a straight line at the real-time space position to obtain a second detection result.

[0134] S409: Generate patrol warning information according to the first detection result and the second detection result to prompt the control personnel of the drone to promptly control the drone to end the patrol and return.

[0135] In the embodiment of the present invention, if the pod type is a visual type, the building type of the building to be inspected is identified according to the geographic spatial information of the building to be inspected; at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected are determined according to the building type, the geographic spatial information, the maximum pitch measurement range of the pod and the minimum inspection safety distance; if the pod type is a partial discharge type, at least one cable hanging point in the building to be inspected is identified according to the geographic spatial information of the building to be inspected, and the spatial position of each cable hanging point is determined; at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected are determined according to the spatial position of each cable hanging point, the maximum pitch measurement range of the pod and the minimum inspection safety distance, and the spatial position of each candidate inspection point of the building to be inspected can be flexibly determined according to the different pod types, thereby improving the flexibility of determining the candidate inspection waypoints and further enriching the applicable practical application scenarios.

[0136] Embodiment 5

[0137] Figure 5This is a schematic diagram of the structure of a safety inspection device for a drone provided in Embodiment 5 of the present invention. This embodiment can be applied to the situation of safety inspection of drones, the device can execute the safety inspection method of drones, the safety inspection device for drones can be implemented in the form of hardware and / or software, and the device can be configured in an electronic device, such as a drone or a server.

[0138] See also Figure 5 The safety inspection device of the unmanned aerial vehicle shown in the figure includes a path acquisition module 501, a first detection module 502, a second detection module 503 and an alarm module 504, wherein:

[0139] The path acquisition module 501 is used to obtain the take-off spatial position, real-time spatial position, real-time status parameters, preset status parameters and target inspection path of the UAV; wherein the target inspection path includes the spatial position of at least one target inspection point; wherein the target inspection point is determined according to the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the UAV, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data;

[0140] The first detection module 502 is used to detect whether the drone can return to the take-off space position along the target inspection path at the real-time space position according to the take-off space position, the real-time space position, the real-time state parameter, the preset state parameter and the target inspection path of the drone, and obtain a first detection result;

[0141] The second detection module 503 is used to detect whether the UAV can return to the take-off space position in a straight line at the real-time space position according to the take-off space position, the real-time space position, the real-time state parameter and the preset state parameter, and obtain a second detection result;

[0142] The alarm module 504 is used to generate inspection alarm information according to the first detection result and the second detection result to prompt the control personnel of the drone to control the drone to end the inspection and return in time.

[0143] The embodiments of the present invention can determine the target inspection points in advance according to the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the drone, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data before the drone performs the inspection task, so as to ensure that the drone can complete the inspection of the target inspection points and improve the safety of the inspection; and during the inspection process of the drone, according to the real-time status parameters of the drone, it is detected in real time whether the drone can return, and corresponding alarm information is generated to warn the technicians to control the drone to end the inspection and return, which can effectively avoid the accident that the drone is forced to land due to insufficient energy, and further improve the safety of the drone during the inspection process.

[0144] Optionally, the first detection module 502 includes:

[0145] A first distance determination unit, used to determine the remaining endurance distance of the UAV at the real-time spatial position according to the real-time state parameter and the preset state parameter;

[0146] An inspected point determination unit, configured to determine at least one inspected point from each target inspection point according to the take-off spatial position, the real-time spatial position and the spatial position of at least one target inspection point in the target inspection path, and to determine the spatial position of each inspected point;

[0147] A second distance determination unit is used to determine the inspected flight distance of the UAV according to the spatial position of each inspected point and the take-off spatial position;

[0148] The first detection unit is used to detect whether the UAV can return to the take-off space position along the target inspection path at the real-time space position according to the inspected flight distance and the remaining endurance distance, and obtain a first detection result.

[0149] Optionally, the real-time status parameters include the real-time average flight speed and real-time power consumption in a unit time period, as well as the real-time hydrogen data and the real-time total power consumption; the preset status parameter is the preset hydrogen inventory;

[0150] The first distance determining unit comprises:

[0151] An energy determination subunit, used to determine the remaining flight energy of the prime UAV at the real-time spatial position according to the real-time total power consumption, the preset hydrogen storage and the real-time hydrogen data;

[0152] The duration determination subunit is used to determine the remaining flight time of the UAV at the real-time spatial position according to the remaining flight energy and the real-time power consumption within a unit time period;

[0153] The distance determination subunit is used to determine the remaining flight distance of the UAV at the real-time spatial position according to the real-time average flight speed and the remaining flight time at the real-time spatial position.

[0154] Optionally, the device further comprises:

[0155] A data acquisition module is used to acquire the geospatial information of at least one building to be inspected, the maximum endurance flight time of the drone, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance, and the estimated inspection data of the drone; wherein the minimum inspection safety distance is the minimum inspection safety distance between the drone and the building to be inspected;

[0156] A candidate point determination module is used to determine, for each building to be inspected, at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the geographic spatial information of the building to be inspected, the pod type, the maximum pitch measurement range of the pod and the minimum inspection safety distance;

[0157] The target point determination module is used to select at least one target building from the buildings to be inspected based on the spatial position of the candidate inspection points of each building to be inspected, the estimated inspection data and the maximum endurance flight time, and determine the candidate inspection points of each target building as the target inspection points.

[0158] Optionally, the candidate point determination module includes:

[0159] a type identification unit, for identifying the building type of the building to be inspected according to the geospatial information of the building to be inspected if the pod type is a visual type;

[0160] The first point determination unit is used to determine at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the building type, geographic space information, the maximum pitch measurement range of the pod and the minimum inspection safety distance;

[0161] A hanging point identification unit, for identifying at least one cable hanging point in the building to be inspected and determining the spatial position of each cable hanging point according to the geographic spatial information of the building to be inspected if the pod type is a partial discharge type;

[0162] The second point determination unit is used to determine at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the spatial position of each cable hanging point, the maximum pitch measurement range of the pod and the minimum inspection safety distance.

[0163] Optionally, the first point determination unit:

[0164] The height determination subunit is used to determine at least one candidate inspection point of the building to be inspected and the height of each candidate inspection point according to the geographic space information, the maximum pitch measurement range of the pod and the minimum inspection safety distance;

[0165] The first coordinate determination subunit is used to determine the coordinates of each candidate inspection point according to the geographic spatial position, the height of each candidate inspection point and the minimum inspection safety distance if the building type is a straight pole tower;

[0166] The area identification subunit is used to identify at least one cable corner area in the building to be inspected if the building type is a corner pole tower, and obtain spatial information of each cable corner area;

[0167] The second coordinate determination subunit is used to determine the coordinates of each candidate inspection point according to the height of each candidate inspection point and the spatial information of each cable corner.

[0168] Optionally, the second point determination unit includes:

[0169] A hanging point classification subunit is used to classify the cable hanging points according to the spatial positions of the cable hanging points to obtain the cable hanging points in at least one direction;

[0170] The combined construction subunit is used to construct a cable hanging point combination in each direction; wherein the cable hanging point combination includes two cable hanging points; the two cable hanging points have different heights;

[0171] The second point determination unit determines, for each cable hanging point combination, at least one candidate inspection point of the building to be inspected and the spatial positions of each candidate inspection point of the building to be inspected according to the spatial positions of the cable hanging points in the cable hanging point combination, the maximum pitch measurement range of the pod and the minimum inspection safety distance.

[0172] The safety inspection device for a drone provided in an embodiment of the present invention can execute the safety inspection method for a drone provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to executing the safety inspection method for a drone.

[0173] Embodiment 6

[0174] Figure 6A schematic diagram of the structure of an electronic device 600 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0175] like Figure 6 As shown, the electronic device 600 includes at least one processor 601, and a memory connected to the at least one processor 601, such as a read-only memory (ROM) 602, a random access memory (RAM) 603, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 601 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 602 or the computer program loaded from the storage unit 608 to the random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The processor 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0176] Multiple components in the electronic device 600 are connected to the I / O interface 605, including: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the electronic device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0177] The processor 601 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 601 performs the various methods and processes described above, such as the safety inspection method of the drone.

[0178] In some embodiments, the safety inspection method of the drone can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the processor 601, one or more steps of the safety inspection method of the drone described above can be performed. Alternatively, in other embodiments, the processor 601 can be configured to execute the safety inspection method of the drone in any other appropriate manner (for example, by means of firmware).

[0179] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0180] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable unmanned aerial vehicle security inspection device, so that when the computer program is executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0181] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0182] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0183] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0184] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS (Virtual Private Server) services.

[0185] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0186] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A safety inspection method for an unmanned aerial vehicle, characterized in that: The method comprises: Obtaining the take-off spatial position, real-time spatial position, real-time status parameters, preset status parameters and target inspection path of the drone; wherein the target inspection path includes the spatial position of at least one target inspection point; wherein the target inspection point is determined based on the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the drone, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data; According to the take-off space position, the real-time space position, the real-time state parameter, the preset state parameter and the target inspection path of the UAV, detecting whether the UAV can return to the take-off space position along the target inspection path at the real-time space position, and obtaining a first detection result; According to the take-off space position, the real-time space position, the real-time state parameter and the preset state parameter, detecting whether the UAV can return to the take-off space position in a straight line at the real-time space position to obtain a second detection result; Inspection warning information is generated according to the first detection result and the second detection result to prompt the control personnel of the drone to promptly control the drone to end the inspection and return.

2. The method according to claim 1, characterized in that The detecting, based on the take-off space position, the real-time space position, the real-time state parameter, the preset state parameter, and the target inspection path of the UAV, whether the UAV can return to the take-off space position along the target inspection path at the real-time space position, and obtaining a first detection result includes: Determine the remaining cruising distance of the UAV at the real-time spatial position according to the real-time state parameter and the preset state parameter; Determine at least one inspected point from each of the target inspection points according to the take-off spatial position, the real-time spatial position and the spatial position of at least one target inspection point in the target inspection path, and determine the spatial position of each of the inspected points; Determining the inspected flight distance of the UAV according to the spatial position of each of the inspected points and the take-off spatial position; According to the inspected flight distance and the remaining endurance distance, it is detected whether the UAV can return to the take-off space position along the target inspection path at the real-time space position to obtain a first detection result.

3. The method according to claim 2, characterized in that The real-time status parameters include the real-time average flight speed and real-time power consumption in a unit time period, as well as the real-time hydrogen storage and the real-time total power consumption; The preset state parameter is the preset hydrogen inventory; The determining, according to the real-time state parameter and the preset state parameter, the remaining endurance distance of the UAV at the real-time spatial position includes: Determine the remaining flight energy of the UAV at the real-time spatial position according to the real-time total power consumption, the preset hydrogen stock and the real-time hydrogen stock; The remaining flight distance of the UAV at the real-time spatial position is determined according to the remaining flight energy, the real-time power consumption within the unit time period, the real-time average flight speed and the remaining flight time at the real-time spatial position.

4. The method according to claim 3, characterized in that The preset hydrogen reserve includes the pre-takeoff hydrogen reserve and the grounded hydrogen reserve; the pre-takeoff hydrogen reserve is the hydrogen reserve in the hydrogen bottle before the drone takes off; the grounded hydrogen reserve can be the hydrogen reserve in the hydrogen bottle when the drone runs out of energy; Calculating the difference between the hydrogen storage before takeoff and the hydrogen storage after grounding to obtain the real-time hydrogen usage of the UAV during flight; Calculating the hydrogen storage difference between the real-time hydrogen storage and the grounded hydrogen storage to obtain the real-time available hydrogen storage of the UAV; Calculating the ratio of the real-time hydrogen usage to the available hydrogen storage to obtain a hydrogen storage multiple of the real-time hydrogen usage to the available hydrogen storage; The remaining flight energy of the UAV at the real-time spatial position is calculated according to the hydrogen storage multiple and the real-time total power consumption.

5. The method according to claim 3, characterized in that: Determining the remaining flight distance of the UAV at the real-time spatial position according to the remaining flight energy, the real-time power consumption within the unit time period, the real-time average flight speed, and the remaining flight time at the real-time spatial position includes: Calculate the number of remaining flight cycles of the drone according to the remaining flight energy and the real-time power consumption within the unit time period; Calculate the remaining flight time of the UAV at the real-time spatial position according to the number of remaining flight cycles and the length of the unit time period; The remaining flight distance of the UAV at the real-time spatial position is determined according to the real-time average flight speed and the remaining flight time at the real-time spatial position.

6. The method according to claim 1, characterized in that The detecting, based on the take-off space position, the real-time space position, the real-time state parameter and the preset state parameter, whether the UAV can return in a straight line from the real-time space position to the take-off space position, and obtaining a second detection result includes: Determine the remaining cruising distance of the UAV at the real-time spatial position according to the real-time state parameter and the preset state parameter; Determining the inspected flight distance of the UAV according to the take-off spatial position and the real-time spatial position; According to the inspected flight distance and the remaining endurance distance, it is detected whether the UAV can return in a straight line to the take-off space position at the real-time space position to obtain a second detection result.

7. The method according to claim 1, characterized in that The method further comprises: If the set return path sent by the technician is received, then according to the take-off space position, the real-time space position, the real-time state parameter, the preset state parameter and the set return path, it is detected whether the UAV can return to the take-off space position along the set return path at the real-time space position to obtain a third detection result; Inspection warning information is generated according to the first detection result and the third detection result to prompt the control personnel of the UAV to promptly control the UAV to end the inspection and return.

8. The method according to any one of claims 1 to 7, characterized in that The target inspection point is determined by: Obtaining the geospatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the drone, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data of the drone; wherein the minimum inspection safety distance is the minimum distance between the drone and the building to be inspected; For each building to be inspected, determine at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the geographic spatial information of the building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the pod type, the maximum pitch measurement range of the pod and the minimum inspection safety distance; At least one target inspection point is selected from each of the candidate inspection points according to the spatial position of each of the candidate inspection points of the buildings to be inspected, the estimated inspection data and the maximum endurance flight duration.

9. The method according to claim 8, characterized in that The method of determining at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the geographic spatial information of the building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the pod type, the maximum pitch measurement range of the pod and the minimum inspection safety distance, comprises: Determine the spatial position of at least one point to be observed in the building to be inspected according to the geographic spatial information of the building to be inspected; If the pod type is a visual type, then according to the building type of the building to be inspected, the spatial position of each of the points to be observed, the maximum pitch measurement range of the pod and the minimum inspection safety distance, determine at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected; If the pod type is a partial discharge type, then according to the spatial positions of each cable hanging point, the spatial positions of each point to be observed, the maximum pitch measurement range of the pod and the minimum inspection safety distance, determine at least one candidate inspection point of the building to be inspected and the spatial positions of each candidate inspection point of the building to be inspected.

10. The method according to claim 9, characterized in that The step of determining at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the building type, the spatial position of each of the points to be observed, the maximum pitch measurement range of the pod and the minimum inspection safety distance comprises: Determine at least one candidate inspection point of the building to be inspected and the height of each candidate inspection point according to the spatial position of each of the points to be observed, the maximum pitch measurement range of the pod and the minimum inspection safety distance; If the building type is a straight pole tower, the coordinates of each candidate inspection point are determined according to the spatial position of each of the points to be observed, the height of each of the candidate inspection points and the minimum inspection safety distance; If the building type is a corner pole tower, identifying at least one cable corner area in the building to be inspected, and obtaining spatial information of each cable corner area; The coordinates of each candidate inspection point are determined according to the spatial position of each of the points to be observed, the minimum inspection safety distance, the height of each of the candidate inspection points, and the spatial information of each of the cable corner areas.

11. The method according to claim 10, characterized in that Determining the coordinates of each candidate inspection point according to the spatial position of each of the points to be observed, the height of each of the candidate inspection points and the minimum inspection safety distance includes: For each height of the candidate inspection point, find the observation point that is located at the height and is farthest from the center of the building to be inspected, and take the farthest observation point found as the farthest point; For the farthest point on each side of the building to be inspected, the longitude and latitude values ​​of the candidate inspection points on the side at the height are determined based on the longitude and latitude values ​​of the farthest point and the longitude and latitude values ​​of the highest point of the building to be inspected.

12. The method according to claim 10, characterized in that The cable corner area includes a first cable and a second cable; the direction of the first cable is different from the direction of the second cable; there is a first point to be observed on the first cable; there is a second point to be observed on the second cable; the spatial information of the cable corner area includes a cable angle between the first cable and the second cable; Determining the coordinates of each candidate inspection point according to the spatial position of each of the points to be observed, the minimum inspection safety distance, the height of each candidate inspection point, and the spatial information of each cable corner includes: For the cable corner area at each height of the candidate inspection point, determine a tangent circle with the minimum inspection safety distance as the radius, tangent to the direction of the first cable, tangent to the second cable, and tangent to the connecting line between the first to-be-observed point and the second to-be-observed point; Using a connecting line between a tangent point on the first cable and the center of the tangent circle as a first connecting line, and using a connecting line between a tangent point on the second cable and the center of the tangent circle as a second connecting line; Determining a target angle according to an angle between the first connecting line and the second connecting line; The coordinates of the candidate inspection point corresponding to the cable corner area at the height are determined according to the comparison result between the target angle, the cable angle and the set angle threshold.

13. The method according to claim 9, characterized in that The step of determining at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected according to the spatial position of each cable hanging point, the maximum pitch measurement range of the pod and the minimum inspection safety distance comprises: Classifying the cable hanging points according to the spatial positions of the cable hanging points to obtain cable hanging points in at least one direction; For each direction, a cable hanging point combination in the direction is constructed; wherein the cable hanging point combination includes two cable hanging points; the two cable hanging points have different heights; For each cable hanging point combination, at least one candidate inspection point of the building to be inspected and the spatial position of each candidate inspection point of the building to be inspected are determined according to the spatial position of the cable hanging points in the cable hanging point combination, the maximum pitch measurement range of the pod and the minimum inspection safety distance.

14. The method according to claim 13, characterized in that The step of determining at least one candidate inspection point of the building to be inspected and the spatial positions of each candidate inspection point of the building to be inspected according to the spatial positions of the cable hanging points in the cable hanging point combination, the maximum pitch measurement range of the pod and the minimum inspection safety distance comprises: For each cable hanging point in the cable hanging point combination, taking the cable hanging point as the center of the circle and according to a preset radius, determining an auxiliary circle corresponding to the cable hanging point; If the auxiliary circles corresponding to the two cable hanging points in the cable hanging point combination have a height of the intersection greater than the height of any cable hanging point in the cable hanging point combination, then according to the spatial positions of the two cable hanging points in the cable hanging point group, the maximum pitch measurement range of the pod and the minimum inspection safety distance, determine the spatial position of a candidate inspection point for the cable hanging point combination; Otherwise, according to the spatial positions of the two cable hanging points in the cable hanging point group, the maximum pitch measurement range of the pod and the minimum inspection safety distance, the spatial position of a candidate inspection point is determined for each cable hanging point in the cable hanging point combination.

15. A safety inspection device for an unmanned aerial vehicle, characterized in that: The device comprises: A path acquisition module, used to acquire the take-off spatial position, real-time spatial position, real-time status parameters, preset status parameters and target inspection path of the drone; wherein the target inspection path includes the spatial position of at least one target inspection point; wherein the target inspection point is determined based on the geographic spatial information of at least one building to be inspected, the building type and the spatial position of at least one cable hanging point, as well as the maximum endurance flight time of the drone, the pod type, the maximum pitch measurement range of the pod, the minimum inspection safety distance and the estimated inspection data; A first detection module is used to detect whether the drone can return to the take-off space position along the target inspection path at the real-time space position according to the take-off space position, the real-time space position, the real-time state parameter, the preset state parameter and the target inspection path of the drone, and obtain a first detection result; A second detection module is used to detect whether the UAV can return to the take-off space position in a straight line at the real-time space position according to the take-off space position, the real-time space position, the real-time state parameter and the preset state parameter, so as to obtain a second detection result; The alarm module is used to generate inspection alarm information according to the first detection result and the second detection result, so as to prompt the control personnel of the drone to control the drone to end the inspection and return in time.

16. An electronic device, characterized in that: The drone comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the safety inspection method for the drone according to any one of claims 1 to 14.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the safety inspection method for a drone according to any one of claims 1 to 14 when executed.

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