Inspection control method and device of unmanned aerial vehicle, storage medium and inspection system

Abstract

The invention discloses an inspection control method and device of an unmanned aerial vehicle, a storage medium, an electronic device, a computer program product and an inspection system. The method comprises the following steps: acquiring laser point cloud data scanned by a laser radar carried by the unmanned aerial vehicle; determining the position of the unmanned aerial vehicle and constructing a laser map of the environment where the unmanned aerial vehicle is located according to the laser point cloud data; determining an inspection path of the unmanned aerial vehicle according to a preset inspection requirement, the position of the unmanned aerial vehicle and the laser map; and controlling the unmanned aerial vehicle to inspect based on the inspection path. According to the technical scheme, the unmanned aerial vehicle is positioned through the real-time data of the laser radar, the laser map of the environment where the unmanned aerial vehicle is located is constructed, and the accuracy and safety of unmanned aerial vehicle inspection are improved.

Description

Technical Field

[0001] The present application relates to the field of drone inspection, and more specifically, to a drone inspection control method and device, a storage medium, an electronic device, a computer program product, and an inspection system. Background Art

[0002] Drones are widely used in inspections. Compared with traditional manual inspections, drone inspections have the advantages of strong flexibility, high degree of automation, large detection range, and high efficiency. Therefore, drones are widely used to perform inspections, monitoring, and data collection tasks.

[0003] In related technologies, autonomous navigation and positioning of drones mainly rely on the location information provided by the Global Positioning System (GPS). GPS can provide accurate positioning services worldwide through the received satellite signals.

[0004] However, in indoor environments or certain signal-shielded areas, GPS signals may be blocked or shielded. In this case, the drone cannot be accurately positioned using related technologies. Summary of the invention

[0005] Embodiments of the present application provide a patrol control method and device for an unmanned aerial vehicle, a storage medium, an electronic device, a computer program product, and a patrol system.

[0006] According to one aspect of an embodiment of the present application, a method for controlling an inspection of an unmanned aerial vehicle is provided, the method comprising: obtaining laser point cloud data scanned by a laser radar carried by the unmanned aerial vehicle; determining the position of the unmanned aerial vehicle and constructing a laser map of the environment in which the unmanned aerial vehicle is located based on the laser point cloud data; determining the inspection path of the unmanned aerial vehicle based on preset inspection requirements, the position of the unmanned aerial vehicle, and the laser map; and controlling the unmanned aerial vehicle to perform inspections based on the inspection path.

[0007] In an exemplary embodiment, the steps of determining the position of the drone and constructing a laser map of the environment in which the drone is located based on laser point cloud data include: determining obstacle information within a preset range of the drone based on the laser point cloud data; determining the position of the drone based on the obstacle information and generating a laser map of the environment in which the drone is located.

[0008] In an exemplary embodiment, the steps of determining the drone inspection path based on preset inspection requirements, drone location, and laser map include: obtaining the inspection location, inspection sequence, and inspection time; and planning the inspection path in the laser map based on the drone location, inspection location, inspection sequence, and inspection time.

[0009] In an exemplary embodiment, the inspection control method of the drone also includes: acquiring laser point cloud data in real time; updating the laser map according to the laser point cloud data acquired in real time; and adjusting the inspection path according to the updated laser map.

[0010] In an exemplary embodiment, the step of controlling a drone to perform inspection based on an inspection path includes: controlling the drone to arrive at an inspection location at an inspection time in an inspection order according to the inspection path; when the drone arrives at the inspection location, controlling the drone to hover for a preset time to collect inspection data.

[0011] According to another aspect of the embodiment of the present application, there is also provided an inspection system for an unmanned aerial vehicle, including: a unmanned aerial vehicle; a laser radar, wherein the laser radar is arranged on the unmanned aerial vehicle, and the laser radar is used to emit a laser beam and receive a reflected beam, and generate laser point cloud data according to the parameters of the reflected beam, wherein the laser point cloud data is used to indicate obstacle information within a preset range of the unmanned aerial vehicle; a control platform, which is respectively communicated with the unmanned aerial vehicle and the laser radar, and is used to obtain laser point cloud data; according to the laser point cloud data, the position of the unmanned aerial vehicle is determined and a laser map of the environment in which the unmanned aerial vehicle is located is constructed; according to the preset inspection requirements, the position of the unmanned aerial vehicle, and the laser map, the inspection path of the unmanned aerial vehicle is determined; and based on the inspection path, the unmanned aerial vehicle is controlled to perform inspections.

[0012] According to another aspect of an embodiment of the present application, a patrol control device for an unmanned aerial vehicle is also provided, and the device includes: a data acquisition module, used to acquire laser point cloud data scanned by a laser radar carried by the unmanned aerial vehicle; a data processing module, used to determine the position of the unmanned aerial vehicle and construct a laser map of the environment in which the unmanned aerial vehicle is located based on the laser point cloud data; a path planning module, used to determine the patrol path of the unmanned aerial vehicle according to preset patrol requirements, the position of the unmanned aerial vehicle, and the laser map; and a control module, used to control the unmanned aerial vehicle to perform patrols based on the patrol path.

[0013] According to another aspect of the embodiment of the present application, a computer-readable storage medium is further provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned inspection control method of the drone when running.

[0014] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the inspection control method of the drone through the computer program.

[0015] According to another aspect of the embodiments of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0016] The inspection control method and device, storage medium, electronic device, computer program product, and inspection system of the above-mentioned drone, the method first obtains the laser point cloud data scanned by the laser radar carried by the drone. Then, based on the laser point cloud data, the position of the drone is determined and a laser map of the environment where the drone is located is constructed. Then, based on the preset inspection requirements, the position of the drone, and the laser map, the inspection path of the drone is determined. Finally, based on the inspection path, the drone is controlled to perform inspections. Since the laser point cloud data obtained by the laser radar is used to locate the drone and the laser map of the environment where the drone is located is constructed, there is no need to rely on GPS signals, and the drone can be accurately located, and then the drone can be controlled to perform inspections, thereby improving the accuracy and safety of drone inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 It is a hardware structure block diagram of the inspection control method of the drone in the embodiment of the present application;

[0020] Figure 2 is a flow chart of a method for controlling inspection of a drone according to an embodiment of the present application;

[0021] Figure 3 This is a second flow chart of a method for controlling inspection of a drone according to an embodiment of the present application;

[0022] Figure 4 This is a flowchart of a method for controlling an inspection of a drone according to an embodiment of the present application;

[0023] Figure 5 This is a fourth flow chart of a method for controlling inspection of a drone according to an embodiment of the present application;

[0024] Figure 6 This is a fifth flow chart of a method for controlling inspection of a drone according to an embodiment of the present application;

[0025] Figure 7 This is a sixth flow chart of a method for controlling inspection of a drone according to an embodiment of the present application;

[0026] Figure 8 It is a structural block diagram of an inspection control device for an unmanned aerial vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 interchangeable under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0029] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 1 is a hardware structure block diagram of a computer terminal of the inspection control method of a drone according to an embodiment of the present application. Figure 1 As shown, the computer terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a microprocessor (Microprocessor Unit, referred to as MPU) or a programmable logic device (Programmable logic device, referred to as PLD)) and a memory 104 for storing data. In an exemplary embodiment, the computer terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. Figure 1 More or fewer components as shown, or with Figure 1 Equivalent functions or comparisons shown Figure 1 A different configuration with more features is shown.

[0030] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the inspection control method of the drone in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0031] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0032] In this embodiment, a method for controlling the inspection of a drone is provided. Figure 2 : is a flow chart of an optional inspection control method of a drone according to an embodiment of the present application, the process includes the following steps S200-S230:

[0033] Step S200, obtaining laser point cloud data scanned by the laser radar carried by the drone.

[0034] Among them, the drone can be equipped with a high-performance laser radar, which can emit laser pulses at a specified frequency and receive reflected signals. During the flight of the drone, the laser radar continuously scans its surroundings, and the collected reflected signals are converted into a series of three-dimensional coordinate points to form point cloud data. The point cloud data scanned by the laser radar can provide real-time, high-resolution three-dimensional information of the drone's surroundings, which is convenient for the subsequent construction of accurate laser maps and the positioning of the drone.

[0035] Step S210, determining the position of the UAV and constructing a laser map of the environment where the UAV is located based on the laser point cloud data.

[0036] Among them, the collected laser point cloud data can be processed using the Simultaneous Localization and Mapping (SLAM) algorithm. Through the SLAM algorithm, the precise position and posture of the drone in three-dimensional space can be calculated in real time, and a laser map of the environment where the drone is located can be constructed. The SLAM algorithm can not only extract feature points such as edges, planes, corners, etc. from the laser point cloud, but also perform pose estimation based on these feature points and point cloud data, thereby dynamically updating the location information of the drone. At the same time, the algorithm can also gradually enrich and optimize the map details to form a complete and accurate indoor environment model. The constructed laser map can accurately reflect the environmental structure and obstacle locations, providing a basis for subsequent path planning and autonomous navigation.

[0037] Step S220, determining the inspection path of the drone according to the preset inspection requirements, the location of the drone, and the laser map.

[0038] The preset inspection requirements can include the list of equipment to be inspected, the inspection order, the inspection time, the safe flight distance, etc. Then, based on the drone's location information and laser map, the existing path planning algorithm is used to intelligently generate the optimal inspection path. The path planning algorithm takes into account the accessibility, inspection efficiency and safety factors of the target equipment, and can automatically avoid all obstacles displayed in the laser map, ensuring that the drone flies stably along the established route while reducing the risk of collision.

[0039] Step S230: Control the drone to perform inspection based on the inspection path.

[0040] Among them, after the inspection path is determined, the drone can be controlled to adjust the flight altitude, speed and direction, and fly along the inspection path for inspection.

[0041] For example, drones are equipped with high-definition cameras and sensors, which can collect data and images in indoor environments (such as the relay protection room of a booster station). The collected data can be transmitted to an external monitoring platform in real time through the drone's data transmission system, realizing remote monitoring of indoor equipment.

[0042] In this embodiment, the laser point cloud data scanned by the laser radar carried by the drone is first obtained. Then, based on the laser point cloud data, the position of the drone is determined and a laser map of the environment where the drone is located is constructed. Then, based on the preset inspection requirements, the position of the drone, and the laser map, the inspection path of the drone is determined. Finally, based on the inspection path, the drone is controlled to perform inspections. Since the laser point cloud data obtained by the laser radar is used to locate the drone and to construct a laser map of the environment where the drone is located, there is no need to rely on GPS signals, and the drone can be accurately located, and then the drone can be controlled to perform inspections, thereby improving the accuracy and safety of drone inspections.

[0043] In one embodiment, Figure 3 As shown, step S210 determines the position of the drone and constructs a laser map of the environment where the drone is located based on the laser point cloud data. It includes: steps S300-S310. Among them:

[0044] Step S300, determining obstacle information within a preset range of the drone based on the laser point cloud data.

[0045] Among them, the point cloud data contains the distance information between various objects in the environment (such as walls, furniture, equipment, personnel, etc.) and the drone.

[0046] Exemplarily, point cloud filtering and obstacle detection algorithms can be applied. First, based on the density of point cloud data, distance threshold and other parameters, the information of distant or irrelevant objects is filtered out, and only the object data within the preset range that may affect the flight of the drone is retained. Then, these objects are identified through cluster analysis, feature matching and other technologies, their shapes, sizes and positions are determined, and obstacle information is generated. For example, the k-means clustering algorithm is used to preliminarily group the point cloud data to identify different obstacles. The point cloud is analyzed using an edge detection algorithm to identify the outline and boundaries of the obstacle. This makes it possible to perceive environmental changes within the preset range of the drone in real time, and to obtain the location, size and shape information of the obstacle in a timely manner, which is crucial for the safe flight of the drone. At the same time, based on the real-time update of obstacle information, the drone can respond quickly when facing dynamic obstacles, avoid collisions, and ensure flight safety.

[0047] Step S310, determining the position of the UAV and generating a laser map of the environment where the UAV is located based on the obstacle information.

[0048] Among them, based on the obstacle information, the SLAM algorithm can be applied to determine the position of the drone and construct a laser map of the drone's environment. The SLAM algorithm calculates the drone's position (position and attitude) by matching with the obstacle information and analyzing the feature points (such as corners, planes, edges, etc.) in the point cloud data. At the same time, the SLAM algorithm can dynamically update and expand the laser map based on the obstacle information and point cloud data, and promptly incorporate new obstacles or changes in the environment into the map to ensure the real-time and accuracy of the map. The construction process may include the creation of an initial sparse map, followed by enriching the map details through the continuously accumulated point cloud data to form a dense point cloud map, and finally generating a complete laser map containing information such as environmental structure, obstacle location, and flyable space.

[0049] In this embodiment, the obstacle information within the preset range of the drone is first determined based on the laser point cloud data, and then the obstacle information is used to determine the position of the drone and generate a laser map of the environment where the drone is located. This enables accurate positioning of the drone, and the constructed laser map facilitates subsequent path planning of the drone.

[0050] In one embodiment, Figure 4 As shown, step S220 determines the inspection path of the drone according to the preset inspection requirements, the location of the drone, and the laser map. It includes: steps S400-S410. Among them:

[0051] Step S400, obtaining the inspection position, inspection sequence, and inspection time.

[0052] Among them, before the drone takes off, detailed inspection requirements and plans will be collected and formulated in advance. First, according to the nature and purpose of the inspection task, the specific equipment or location that needs to be inspected, that is, the inspection location, is determined. This may include information such as the precise coordinates of the equipment and checkpoints. Secondly, according to the importance and maintenance needs of the equipment, the inspection sequence is formulated. The inspection sequence can be the priority order of the equipment or the path sequence optimized according to the indoor space layout to ensure that the drone can complete the inspection task efficiently. Finally, the inspection time involves the specific execution time point of the task, the inspection cycle, the flight time limit of the drone, etc. To arrange the inspection time reasonably, it is necessary not only to consider the use of the equipment, but also the battery life and maintenance time of the drone.

[0053] Step S410, planning the inspection path in the laser map according to the position of the drone, the inspection position, the inspection sequence, and the inspection time.

[0054] Among them, after the inspection requirements are determined, the inspection path can be planned using a path planning algorithm (such as A* algorithm, Dijkstra algorithm or RRT algorithm, etc.) based on the current location information of the drone and the location of obstacles in the laser map. The path planning algorithm needs to consider the following factors: Obstacle avoidance: Ensure that the path does not intersect with obstacles on the laser map to avoid collisions. Visiting inspection locations: The path will ensure that the drone can visit the preset inspection locations in sequence and perform inspection tasks in the prescribed order. Compliance with inspection time: The planned path should ensure that the drone can complete the task within the planned inspection time, while taking into account the flight speed, drone performance and battery life. Flight safety and efficiency: The path planning algorithm will find the shortest and safest path, avoid unnecessary turns and repeated flights to improve flight efficiency while ensuring flight safety.

[0055] In this embodiment, by clearly defining the inspection location, inspection sequence, and inspection time, the orderliness and accuracy of the drone inspection task can be ensured, and repeated inspections or missed inspection points can be avoided. Reasonable time scheduling and path planning can optimize the flight efficiency of the drone to the greatest extent, reduce unnecessary flight time and energy consumption, and ensure that the inspection frequency of the equipment meets maintenance requirements. By intelligently planning the inspection path in the laser map, the drone can complete the inspection task autonomously and efficiently.

[0056] In one embodiment, Figure 5 As shown, the inspection control method of the drone also includes: steps S500-S520. Among them:

[0057] Step S500, acquiring laser point cloud data in real time.

[0058] The laser radar on the drone continuously emits laser pulses and receives reflected signals from the surrounding environment. By analyzing the time difference or angle difference of the received signals, the precise distance between the laser radar and the surrounding objects is calculated, and then the distance between the drone and the surrounding objects is determined.

[0059] Step S510, updating the laser map according to the laser point cloud data acquired in real time.

[0060] During the flight, the drone compares and fuses the real-time laser point cloud data with the previously constructed laser map to update the laser map. For example, when new obstacles are detected, the location and shape information of these obstacles will be added to the map to ensure the real-time and accuracy of the laser map.

[0061] Step S520: adjusting the inspection path according to the updated laser map.

[0062] This can be done by re-evaluating the preset inspection path based on the updated laser map. If new obstacles or equipment displacement appear in the map, the inspection path will be adjusted accordingly to ensure that the drone can safely reach the inspection location.

[0063] In this embodiment, the laser point cloud data acquired in real time provides the drone with environmental perception capabilities, which can timely update and reflect environmental changes, such as new obstacles, equipment displacement, etc., to ensure the safe flight of the drone. By updating the laser map in real time, the drone can timely identify and adapt to environmental changes, and then adjust the inspection path according to the updated laser map, improve the inspection capability of the drone, and ensure that the drone can complete the inspection task to the greatest extent.

[0064] In one embodiment, Figure 6 As shown, step S230, based on the inspection path, controls the drone to perform inspection. It includes: steps S600-S610. Among them:

[0065] Step S600, according to the inspection path, control the drone to arrive at the inspection location at the inspection time in accordance with the inspection sequence.

[0066] Among them, path following algorithms, such as proportional-integral-derivative (PID) controller and linear quadratic (LQR) controller, can be used to accurately control the drone to fly along the inspection path. These algorithms will adjust the flight parameters (such as speed, direction, and altitude) based on the deviation between the current position of the drone and the target position to ensure that the drone can move accurately along the planned path.

[0067] The time required to reach each inspection location can be calculated in advance and synchronized with the drone's clock. Through the task scheduling system, the drone will arrive at the preset inspection location at a specific time and perform the corresponding inspection task. The task scheduling system is also responsible for monitoring the flight status of the drone to ensure that the drone completes the inspection within the specified time, while taking into account factors such as battery life and the health of the drone to ensure the smooth completion of the task.

[0068] Step S610, when the UAV reaches the inspection location, the UAV is controlled to hover for a preset time to collect inspection data.

[0069] During the drone's hovering period, the high-definition camera, infrared sensor, sonar sensor and other data acquisition equipment on board start working to shoot or record the status data of the equipment. The collected data will be transmitted back to the ground control station or cloud server in real time through the data transmission link for preliminary analysis or storage, providing a basis for subsequent equipment status assessment and maintenance decisions. By analyzing the data collected by the drone, potential safety hazards or equipment failures can be discovered and warned in a timely manner, providing strong support for subsequent maintenance and repair work.

[0070] In this embodiment, by controlling the drone to fly along the inspection path and collecting inspection data at the inspection location, the equipment at the inspection location can be accurately inspected, which facilitates monitoring of the status of the equipment.

[0071] In one embodiment, Figure 7 As shown, a drone inspection system is provided, comprising: a drone 10, a laser radar 20, and a control platform 30, wherein:

[0072] The laser radar 20 is disposed on the drone 10 , and is used to emit a laser beam and receive a reflected beam, and generate laser point cloud data according to parameters of the reflected beam.

[0073] The laser point cloud data is used to indicate obstacle information within a preset range of the drone 10.

[0074] The laser radar 20 is usually arranged at the bottom or around the drone 10 to achieve 360-degree all-round scanning.

[0075] The control platform 30 is respectively connected to the drone 10 and the laser radar 20 for obtaining laser point cloud data. According to the laser point cloud data, the position of the drone 10 is determined and a laser map of the environment where the drone 10 is located is constructed. According to the preset inspection requirements, the position of the drone 10, and the laser map, the inspection path of the drone 10 is determined. Based on the inspection path, the drone 10 is controlled to perform inspections.

[0076] Specifically, the inspection system may also include a drone library, which serves as a take-off and landing point for the drone 10 and can realize the functions of automatically releasing and recovering the drone 10. When the inspection task begins, the drone library automatically opens and the drone 10 takes off autonomously; after the task is completed, the drone 10 returns autonomously and lands accurately through the positioning system in the library, reducing the manpower requirements for operating the drone 10 and improving the operating efficiency. After the drone 10 returns to the library, the system can automatically identify the state of the drone 10 and perform charging operations. This ensures that the drone 10 can always maintain sufficient power, support continuous inspections or emergency tasks, reduce the frequency of manual intervention, and improve the automation level of the system. The built-in data download system of the drone library can automatically obtain the data collected by the drone 10 during the flight, including high-definition images, videos, and sensor data. These data can be quickly transmitted to the control platform 30 for subsequent analysis and processing, supporting applications such as equipment status monitoring and fault diagnosis. The drone library also has the ability to monitor the status of the drone 10, including power, flight data, health status, etc., to ensure that the drone 10 is in the best condition before performing the task. Once an abnormality is found in the drone 10, the system in the warehouse can promptly alarm to avoid accidents during the inspection of the drone 10.

[0077] In this embodiment, laser point cloud data can be obtained in real time by using a drone equipped with a laser radar. By setting up a control platform, laser point cloud data scanned by the laser radar carried by the drone can be obtained. Then, based on the laser point cloud data, the position of the drone is determined and a laser map of the environment where the drone is located is constructed. Then, based on the preset inspection requirements, the position of the drone, and the laser map, the inspection path of the drone is determined. Finally, based on the inspection path, the drone is controlled to perform inspections. Since the laser point cloud data obtained by the laser radar is used to locate the drone and to construct a laser map of the environment where the drone is located, there is no need to rely on GPS signals, and the drone can be accurately located, and then the drone can be controlled to perform inspections, thereby improving the accuracy and safety of drone inspections.

[0078] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0079] In this embodiment, a patrol control device for an unmanned aerial vehicle is also provided, and the patrol control device for the unmanned aerial vehicle is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0080] Figure 8 is a structural block diagram of an optional inspection control device for a drone according to an embodiment of the present application. Figure 8 As shown, including:

[0081] The data acquisition module 801 is used to acquire the laser point cloud data scanned by the laser radar carried by the drone.

[0082] The data processing module 802 is used to determine the position of the UAV and construct a laser map of the environment where the UAV is located based on the laser point cloud data.

[0083] The path planning module 803 is used to determine the inspection path of the drone according to the preset inspection requirements, the location of the drone, and the laser map.

[0084] The control module 804 is used to control the drone to perform inspections based on the inspection path.

[0085] Through the above device, the laser point cloud data scanned by the laser radar carried by the drone is first obtained. Then, based on the laser point cloud data, the position of the drone is determined and a laser map of the environment where the drone is located is constructed. Then, based on the preset inspection requirements, the position of the drone, and the laser map, the inspection path of the drone is determined. Finally, based on the inspection path, the drone is controlled to perform inspections. Since the laser point cloud data obtained by the laser radar is used to locate the drone and the laser map of the environment where the drone is located is constructed, there is no need to rely on GPS signals, and the drone can be accurately located, and then the drone can be controlled for inspection, which improves the accuracy and safety of drone inspections.

[0086] In an exemplary embodiment, the data processing module 802 includes:

[0087] The obstacle determination unit is used to determine the obstacle information within a preset range of the UAV based on the laser point cloud data.

[0088] The positioning and map generation unit is used to determine the position of the UAV based on obstacle information and generate a laser map of the environment where the UAV is located.

[0089] In an exemplary embodiment, the path planning module 803 includes:

[0090] The inspection data acquisition unit is used to obtain the inspection location, inspection sequence, and inspection time.

[0091] The inspection path planning unit is used to plan the inspection path in the laser map according to the position of the drone, the inspection location, the inspection sequence, and the inspection time.

[0092] In an exemplary embodiment, the above device further includes:

[0093] Real-time data acquisition module, used to acquire laser point cloud data in real time.

[0094] The map update module is used to update the laser map according to the laser point cloud data acquired in real time.

[0095] The path adjustment module is used to adjust the inspection path according to the updated laser map.

[0096] In an exemplary embodiment, the control module 804 includes:

[0097] The first control unit is used to control the UAV to arrive at the inspection position at the inspection time according to the inspection sequence based on the inspection path.

[0098] The second control unit is used to control the drone to hover for a preset time to collect inspection data when the drone arrives at the inspection location.

[0099] An embodiment of the present application further provides a storage medium, which includes a stored program, wherein the program executes any of the above methods when it is run.

[0100] Optionally, in this embodiment, the storage medium may be configured to store program codes for executing the following steps:

[0101] S1, obtain the laser point cloud data scanned by the laser radar carried by the drone.

[0102] S2, based on the laser point cloud data, determines the location of the UAV and builds a laser map of the UAV’s environment.

[0103] S3, determines the inspection path of the drone based on the preset inspection requirements, the location of the drone, and the laser map.

[0104] S4, based on the inspection path, controls the drone to conduct inspections.

[0105] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0106] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0107] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0108] S1, obtain the laser point cloud data scanned by the laser radar carried by the drone.

[0109] S2, based on the laser point cloud data, determines the location of the UAV and builds a laser map of the UAV’s environment.

[0110] S3, determines the inspection path of the drone based on the preset inspection requirements, the location of the drone, and the laser map.

[0111] S4, based on the inspection path, controls the drone to conduct inspections.

[0112] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0113] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores the computer program product, and when the computer program is executed by a processor, the steps of the method in each embodiment of the present application are implemented.

[0114] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0115] S1, obtain the laser point cloud data scanned by the laser radar carried by the drone.

[0116] S2, based on the laser point cloud data, determines the location of the UAV and builds a laser map of the UAV’s environment.

[0117] S3, determines the inspection path of the drone based on the preset inspection requirements, the location of the drone, and the laser map.

[0118] S4, based on the inspection path, controls the drone to conduct inspections.

[0119] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0120] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0121] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling an unmanned aerial vehicle inspection, characterized in that: The method comprises: Obtaining laser point cloud data scanned by the laser radar carried by the drone; Determine the position of the UAV and construct a laser map of the environment where the UAV is located based on the laser point cloud data; Determine the inspection path of the drone according to preset inspection requirements, the location of the drone, and the laser map; Based on the inspection path, the drone is controlled to perform inspection.

2. The inspection control method of a drone according to claim 1, characterized in that: Determining the position of the drone and constructing a laser map of the environment where the drone is located according to the laser point cloud data includes: Determining obstacle information within a preset range of the drone based on the laser point cloud data; According to the obstacle information, the position of the UAV is determined and a laser map of the environment in which the UAV is located is generated.

3. The inspection control method of a drone according to claim 1, characterized in that: The determining the inspection path of the drone according to the preset inspection requirements, the location of the drone, and the laser map includes: Obtain inspection location, inspection sequence, and inspection time; An inspection path is planned in the laser map according to the position of the drone, the inspection position, the inspection sequence, and the inspection time.

4. The inspection control method of a drone according to claim 3, characterized in that: The method further comprises: Acquire the laser point cloud data in real time; Update the laser map according to the laser point cloud data acquired in real time; The inspection path is adjusted according to the updated laser map.

5. The inspection control method of a drone according to claim 3, characterized in that: The controlling the drone to perform inspection based on the inspection path includes: According to the inspection path, controlling the drone to arrive at the inspection location at the inspection time in the inspection sequence; When the drone reaches the inspection location, the drone is controlled to hover for a preset time to collect inspection data.

6. A drone inspection system, characterized in that: include: Drones; A laser radar, wherein the laser radar is arranged on the drone, and is used to emit a laser beam and receive a reflected beam, and generate laser point cloud data according to parameters of the reflected beam, wherein the laser point cloud data is used to indicate obstacle information within a preset range of the drone; A control platform is respectively connected to the UAV and the laser radar for obtaining the laser point cloud data; based on the laser point cloud data, the position of the UAV is determined and a laser map of the environment where the UAV is located is constructed; based on preset inspection requirements, the position of the UAV and the laser map, an inspection path of the UAV is determined; and based on the inspection path, the UAV is controlled to perform inspections.

7. A patrol control device for an unmanned aerial vehicle, characterized in that: The device comprises: A data acquisition module, used to acquire laser point cloud data scanned by the laser radar carried by the drone; A data processing module, used to determine the position of the drone and construct a laser map of the environment where the drone is located based on the laser point cloud data; A path planning module, used to determine the inspection path of the drone according to preset inspection requirements, the location of the drone, and the laser map; A control module is used to control the drone to perform inspection based on the inspection path.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 6 when executed.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 6 through the computer program.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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