Unmanned aerial vehicle inspection navigation method and system, electronic equipment and storage medium

Abstract

The invention discloses an unmanned aerial vehicle routing inspection navigation method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining a routing inspection task which comprises a routing inspection path and routing inspection time; according to the inspection task, controlling the unmanned aerial vehicle to start inspection and acquiring flight data of the unmanned aerial vehicle; determining a control strategy of a camera in the transformer substation according to the inspection task; based on the control strategy of the camera, in the unmanned aerial vehicle inspection process, identifying a two-dimensional code arranged on an unmanned aerial vehicle body, and determining the position information of the unmanned aerial vehicle; and correcting the flight data according to the position information of the unmanned aerial vehicle to obtain a corrected position of the unmanned aerial vehicle. The technical problems that in the prior art, a scheme adopting two-dimensional code reference points as navigation reference points is large in early-stage reference point selection, recognition test and later-stage reference point maintenance workload, and the navigation precision is not high are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle inspection navigation method, system, electronic equipment and storage medium. Background Art

[0002] Drone inspection is the use of drones to inspect facilities, equipment or areas. Drones can be equipped with various sensors and cameras to achieve comprehensive monitoring and detection of target areas through aerial photography, monitoring and data collection. Drone inspection has the advantages of high efficiency, speed, safety and low cost, and is widely used in electricity, oil, natural gas, environmental protection, agriculture and other fields. Through drone inspection, problems can be discovered in time, manpower and material costs can be reduced, work efficiency can be improved, and it helps to ensure the safety and stable operation of facilities and equipment.

[0003] In the prior art, when conducting inspections by drones, a solution using QR code reference points is used as navigation reference points. The high-definition camera carried by the drone can obtain high-definition video images of the drone's flight area in real time. At the same time, when the high-definition camera looks down at the substation equipment, it will cover the QR code on the equipment. The drone can obtain the longitude and latitude information of the equipment by identifying the QR code, thereby determining the specific location of the equipment. Whether it is the selection of reference points in the early stage, the identification test, or the maintenance of reference points in the later stage, the workload is large, and the navigation accuracy is not high.

[0004] There is currently no corresponding solution to the above problems. Summary of the invention

[0005] The embodiments of the present invention provide a drone inspection navigation method, system, electronic device and storage medium to at least solve the technical problems in the prior art of using QR code reference points as navigation reference points, the selection of early reference points, recognition testing, and maintenance of later reference points, which are all heavy, and the navigation accuracy is not high.

[0006] According to one embodiment of the present invention, there is provided a drone inspection navigation method, comprising: obtaining an inspection task, wherein the inspection task includes an inspection path and an inspection time; according to the inspection task, controlling a drone to start inspection and obtaining flight data of the drone; according to the inspection task, determining a control strategy for a camera in a substation; based on the control strategy of the camera, during the drone inspection process, identifying a QR code provided on the drone body to determine the drone location information; according to the drone location information, correcting the flight data to obtain the corrected position of the drone.

[0007] Optionally, the inspection task is determined based on environmental data of the substation.

[0008] Optionally, according to the inspection task, the drone is controlled to start the inspection, including: determining the flight path of the drone based on the inspection path; determining the flight speed of the drone based on the inspection time; and controlling the drone to start the inspection according to the flight path and the flight speed.

[0009] Optionally, obtaining the flight data of the UAV includes: obtaining the latitude and longitude data of the UAV and acquiring camera data through an onboard camera; and determining the flight data of the UAV based on the latitude and longitude data and the camera data.

[0010] Optionally, the QR code includes a first QR code and a second QR code, and based on the control strategy of the camera, during the UAV inspection process, the QR code set on the UAV body is identified to determine the UAV location information, including: during the UAV inspection process, based on the control strategy, controlling the camera to identify the first QR code and the second QR code, and determining the location data of the first QR code and the second QR code, wherein the first QR code and the second QR code are set on the UAV at intervals; determining the UAV location information based on the location data of the first QR code and the second QR code.

[0011] Optionally, the UAV inspection and navigation method also includes: comparing the corrected position with the position data in the inspection path to obtain a comparison result; in response to the comparison result indicating that the deviation between the corrected position and the position data in the inspection path is greater than a preset threshold, outputting an alarm prompt message.

[0012] Optionally, the UAV inspection navigation method further includes: in response to the end of the UAV inspection, controlling the machine nest to perform precision calibration on the inertial measurement unit in the UAV.

[0013] According to one embodiment of the present invention, there is also provided a UAV inspection navigation system, including: an acquisition module, used to acquire inspection tasks, wherein the inspection tasks include inspection paths and inspection times; a first control module, used to control the UAV to start inspection and acquire flight data of the UAV according to the inspection tasks; a determination module, used to determine the control strategy of the camera in the substation according to the inspection tasks; a second control module, used to identify the QR code provided on the UAV body during the UAV inspection process based on the control strategy of the camera, and determine the UAV position information; a correction module, used to correct the flight data according to the UAV position information, and obtain the corrected position of the UAV.

[0014] Optionally, the inspection task acquired by the acquisition module is determined according to environmental data of the substation.

[0015] Optionally, the first control module is also used to: determine the flight path of the UAV based on the inspection path; determine the flight speed of the UAV based on the inspection time; and control the UAV to start inspection according to the flight path and flight speed.

[0016] Optionally, the first control module is also used to: obtain the latitude and longitude data of the UAV and obtain camera data through the onboard camera; and determine the flight data of the UAV based on the latitude and longitude data and the camera data.

[0017] Optionally, the QR code includes a first QR code and a second QR code, and the second control module is also used to: during the drone inspection process, based on the control strategy, control the camera to identify the first QR code and the second QR code, and determine the position data of the first QR code and the second QR code, wherein the first QR code and the second QR code are spaced apart on the drone; determine the drone location information based on the position data of the first QR code and the second QR code.

[0018] Optionally, the UAV inspection and navigation system also includes an alarm module, which is used to: compare the corrected position with the position data in the inspection path to obtain a comparison result; in response to the comparison result indicating that the deviation between the corrected position and the position data in the inspection path is greater than a preset threshold, output an alarm prompt message.

[0019] Optionally, the correction module is also used to: in response to the completion of the UAV inspection, control the machine nest to perform precision correction on the inertial measurement unit in the UAV.

[0020] According to one embodiment of the present invention, there is also provided 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 any of the above-mentioned drone inspection and navigation methods.

[0021] According to one embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, wherein the computer program is configured to execute any of the above-mentioned drone inspection and navigation methods when running.

[0022] In an embodiment of the present invention, an inspection task is obtained, wherein the inspection task includes an inspection path and an inspection time; according to the inspection task, the drone is controlled to start the inspection and obtain the flight data of the drone; according to the inspection task, the control strategy of the camera in the substation is determined; based on the control strategy of the camera, during the drone inspection process, the two-dimensional code set on the drone body is identified to determine the drone position information; according to the drone position information, the flight data is corrected to obtain the corrected position of the drone. The use of the two-dimensional code set on the drone and the camera in the substation for position identification and correction improves the accuracy and reliability of the drone position information, especially the positioning accuracy in complex environments, and thus can solve the technical problems of the prior art that the two-dimensional code reference point is used as the navigation reference point, the selection of the early reference point, the identification test, and the maintenance of the later reference point are all large, and the navigation accuracy is not high. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 is a flow chart of a drone inspection navigation method according to one embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of a drone inspection navigation method according to one embodiment of the present invention;

[0026] Figure 3 It is a structural block diagram of a UAV inspection and navigation system according to one embodiment of the present invention. DETAILED DESCRIPTION

[0027] 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.

[0028] It should be noted that the terms "first", "second", etc. 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 terms used in this way can be interchangeable 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.

[0029] According to an embodiment of the present invention, an embodiment of a drone inspection and navigation method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system containing at least one set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] The method embodiment may also be performed in an electronic device, a similar control device or an electronic device including a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device and a display device for communication functions. It will be understood by those skilled in the art that the above structural description is only illustrative and does not limit the structure of the above electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0031] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural-network processing unit (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, and other processing devices. Among them, different processing units may be independent components or integrated into one or more processors. In some instances, the electronic device may also include one or more processors.

[0032] The memory can be used to store computer programs, such as storing the computer program corresponding to the unmanned aerial vehicle inspection and navigation method in the embodiment of the present invention. The processor implements the above-mentioned unmanned aerial vehicle inspection and navigation method by running the computer program stored in the memory. The memory 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 may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the electronic device via a grid. Examples of the above-mentioned grid include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0033] The communication device is used to receive or send data via a grid. The specific examples of the above-mentioned grid may include a wireless grid provided by a communication provider of the mobile terminal. In one example, the communication device includes a grid adapter (network interface controller, NIC), which can be connected to other grid devices through a base station so as to communicate with the Internet. In one example, the communication device can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly. In some embodiments of the present solution, the communication device is used to connect to mobile devices such as mobile phones and tablets, and instructions can be sent to the vehicle-mounted terminal through the mobile device.

[0034] The display device may be a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of the vehicle-mounted terminal. In some embodiments, the vehicle-mounted terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contact and / or gestures on a touch-sensitive surface. The human-computer interaction function here may include a vehicle gear shifting function, and executable instructions for executing the human-computer interaction function are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0035] Figure 1 is a flow chart of a drone inspection navigation method according to one embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0036] Step S101, obtaining an inspection task, wherein the inspection task includes an inspection path and an inspection time.

[0037] Step S102, according to the inspection task, control the drone to start inspection and obtain the flight data of the drone.

[0038] Step S103, determining the control strategy of the camera in the substation according to the inspection task.

[0039] Step S104, based on the control strategy of the camera, during the inspection process of the drone, the QR code set on the drone body is identified to determine the location information of the drone.

[0040] Step S105, correcting the flight data according to the drone position information to obtain the corrected position of the drone.

[0041] Specifically, in the step of obtaining inspection tasks, the system will receive an inspection task, which includes the inspection path and inspection time. The inspection path means that the drone needs to fly along a specific route, and the inspection time means that the inspection needs to be completed within a specific time.

[0042] Control the drone to start inspection and obtain flight data. According to the task received in step S101, the system will control the drone to start the inspection task and collect the drone's flight data during the inspection process. This data may include the drone's location, speed, flight altitude and other information.

[0043] Determine the control strategy of the camera in the substation. This step involves how to use the camera in the substation to assist the drone inspection work. The system needs to formulate the control strategy of the camera according to the inspection task, such as when the camera should be turned on and off, and how to adjust the angle and focal length of the camera.

[0044] Based on the control strategy of the camera, during the drone inspection process, the QR code set on the drone body is identified to determine the drone's location information. In this step, the camera will identify the QR code on the drone body according to the previously determined control strategy. The QR code contains the drone's identity information and location information. By identifying the QR code, the system can determine the drone's precise location in the substation.

[0045] According to the drone position information, the flight data is corrected to obtain the corrected position of the drone. Finally, the system will use the position information obtained from the QR code recognition to correct the previously collected drone flight data. The corrected flight data will be more accurate, which will help improve the accuracy and efficiency of inspections. The corrected position refers to the corrected drone position, which can be used for subsequent data analysis and decision support.

[0046] In an embodiment of the present invention, an inspection task is obtained, wherein the inspection task includes an inspection path and an inspection time; according to the inspection task, the drone is controlled to start the inspection and obtain the flight data of the drone; according to the inspection task, the control strategy of the camera in the substation is determined; based on the control strategy of the camera, during the drone inspection process, the two-dimensional code set on the drone body is identified to determine the drone position information; according to the drone position information, the flight data is corrected to obtain the corrected position of the drone. The use of the two-dimensional code set on the drone and the camera in the substation for position identification and correction improves the accuracy and reliability of the drone position information, especially the positioning accuracy in complex environments, and thus can solve the technical problems of the prior art that the two-dimensional code reference point is used as the navigation reference point, the selection of the early reference point, the identification test, and the maintenance of the later reference point are all large, and the navigation accuracy is not high.

[0047] Optionally, the inspection task is determined based on environmental data of the substation.

[0048] Specifically, by analyzing the environmental data of the substation, the inspection route and time can be intelligently planned to avoid obstacles during the inspection process, further improving the inspection efficiency and safety. For example, in a power substation, the inspection route can be dynamically adjusted according to the equipment layout and equipment operating status to ensure the comprehensiveness and effectiveness of the inspection.

[0049] Optionally, according to the inspection task, the drone is controlled to start the inspection, including: determining the flight path of the drone based on the inspection path; determining the flight speed of the drone based on the inspection time; and controlling the drone to start the inspection according to the flight path and the flight speed.

[0050] Specific, precise flight paths and speed control enable drones to complete inspection tasks efficiently and accurately, especially in emergency inspections that require rapid response, and can quickly locate and check equipment status, providing timely data support for troubleshooting and maintenance.

[0051] Optionally, obtaining the flight data of the UAV includes: obtaining the latitude and longitude data of the UAV and acquiring camera data through an onboard camera; and determining the flight data of the UAV based on the latitude and longitude data and the camera data.

[0052] Specifically, by combining longitude and latitude data with visual information, the UAV's flight data is more comprehensive and accurate, and can effectively deal with situations where longitude and latitude signals are poor or visually blocked, ensuring that reliable flight data can be obtained in various environments, making it suitable for inspection tasks in complex terrain and environments.

[0053] Optionally, the QR code includes a first QR code and a second QR code, and based on the control strategy of the camera, during the UAV inspection process, the QR code set on the UAV body is identified to determine the UAV location information, including: during the UAV inspection process, based on the control strategy, controlling the camera to identify the first QR code and the second QR code, and determining the location data of the first QR code and the second QR code, wherein the first QR code and the second QR code are set on the UAV at intervals; determining the UAV location information based on the location data of the first QR code and the second QR code.

[0054] Specifically, by setting multiple QR codes, the accuracy and reliability of location identification can be improved, and the accuracy of the drone's location information can be ensured even in high-speed flight or complex lighting conditions. It is suitable for inspection tasks that require high-precision positioning.

[0055] Optionally, the UAV inspection and navigation method also includes: comparing the corrected position with the position data in the inspection path to obtain a comparison result; in response to the comparison result indicating that the deviation between the corrected position and the position data in the inspection path is greater than a preset threshold, outputting an alarm prompt message.

[0056] Specifically, this real-time position comparison and deviation detection can promptly detect the deviation of the drone. Through alarm prompts, the flight strategy can be quickly adjusted to avoid the failure of the inspection mission or damage to the equipment, thereby improving the reliability and efficiency of the inspection.

[0057] Optionally, the default is then 10 cm.

[0058] Optionally, the UAV inspection navigation method further includes: in response to the end of the UAV inspection, controlling the machine nest to perform precision calibration on the inertial measurement unit in the UAV.

[0059] Specifically, by calibrating the inertial measurement unit after the inspection, the errors accumulated during the flight can be eliminated, and more accurate navigation data can be provided for subsequent flight missions, thereby extending the service life of the UAV and reducing maintenance costs. It is suitable for scenarios where long-term and frequent inspection tasks are required.

[0060] For example, refer to Figure 2 An embodiment of an unmanned inspection navigation system of the present invention is as follows, comprising:

[0061] UAV system, UAV airborne navigation equipment, fixed camera, UAV QR code identification and UAV navigation analysis server; UAV system includes UAV, machine nest and precise positioning information provided by high-precision IMU. The accumulated error of low-precision IMU of airborne navigation is calibrated after each UAV flight; UAV airborne navigation equipment includes airborne camera and low-precision IMU, which are used to provide basic navigation data information; fixed camera is the security monitoring and equipment monitoring camera installed in the substation room; UAV QR code identification includes front QR code and rear QR code of UAV, which can not only determine the precise position of UAV but also the flight angle of UAV through identification; UAV navigation analysis server analyzes the angle of camera in the dispatching room, and integrates QR code analysis data with the navigation data of UAV itself to provide more accurate navigation data.

[0062] The drone inspection navigation system performs the following steps:

[0063] Step 1: After the drone receives the inspection task, the substation indoor camera determines the camera scheduling plan based on the drone's flight route and flight plan time;

[0064] Step 2: After the drone takes off, the camera can be adjusted according to the scheduling plan to cover the drone's flight path;

[0065] Step 3: During the flight of the drone, the current flight data of the drone is preliminarily obtained through comprehensive analysis of the IMU (inertial measurement unit) and the onboard camera data;

[0066] Step 4: Use a fixed camera to identify the QR code on the drone and obtain the relative position and rotation angle of the two QR codes on board.

[0067] Step 5: The drone navigation analysis server further obtains the current location information of the drone by combining the drone's current flight data and the QR code location information.

[0068] Step 6: If the current position information of the drone deviates from the navigation information by more than 10cm, the system will issue an early warning.

[0069] Step 7: Reset the camera with the drone navigation reference coverage to continue the work before the drone inspection.

[0070] Step 8: If the drone inspection is completed, go to step 9, otherwise return to step 2.

[0071] Step 9: The drone lands and uses the data from the high-precision IMU to calibrate the basic information of the current low-precision IMU.

[0072] 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 can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a grid device, etc.) to execute the methods of various embodiments of the present invention.

[0073] In this embodiment, a drone inspection navigation system is also provided, which 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 be a combination of software and / or hardware that implements 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 conceivable.

[0074] Figure 3 is a structural block diagram of a drone inspection navigation system 200 according to one embodiment of the present invention. Figure 3 As shown, the system includes: an acquisition module 201, which is used to acquire an inspection task, wherein the inspection task includes an inspection path and an inspection time; a first control module 202, which is used to control the UAV to start inspection and obtain the flight data of the UAV according to the inspection task; a determination module 203, which is used to determine the control strategy of the camera in the substation according to the inspection task; a second control module 204, which is used to identify the QR code set on the UAV body and determine the UAV position information during the UAV inspection based on the camera control strategy; a correction module 205, which is used to correct the flight data according to the UAV position information to obtain the corrected position of the UAV.

[0075] Optionally, the inspection task acquired by the acquisition module 201 is determined according to environmental data of the substation.

[0076] Optionally, the first control module 202 is further used to: determine the flight path of the drone based on the inspection path; determine the flight speed of the drone based on the inspection time; and control the drone to start inspection according to the flight path and the flight speed.

[0077] Optionally, the first control module 202 is further used to: obtain the latitude and longitude data of the UAV and obtain camera data collected by an onboard camera; and determine the flight data of the UAV according to the latitude and longitude data and the camera data.

[0078] Optionally, the QR code includes a first QR code and a second QR code, and the second control module 204 is also used to: during the drone inspection process, based on the control strategy, control the camera to identify the first QR code and the second QR code, and determine the position data of the first QR code and the second QR code, wherein the first QR code and the second QR code are spaced apart on the drone; determine the drone location information based on the position data of the first QR code and the second QR code.

[0079] Optionally, the UAV inspection and navigation system also includes an alarm module, which is connected to the correction module 205, not shown in the figure. The alarm module is used to: compare the correction position with the position data in the inspection path to obtain a comparison result; in response to the comparison result indicating that the deviation between the correction position and the position data in the inspection path is greater than a preset threshold, output an alarm prompt information.

[0080] Optionally, the correction module 205 is further used to: in response to the completion of the UAV inspection, control the machine nest to perform precision correction on the inertial measurement unit in the UAV.

[0081] An embodiment of the present invention further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the above-mentioned drone inspection and navigation method.

[0082] Optionally, in this embodiment, the electronic device may be configured to store a computer program for performing the following steps:

[0083] Step S101, obtaining an inspection task, wherein the inspection task includes an inspection path and an inspection time.

[0084] Step S102, according to the inspection task, control the drone to start inspection and obtain the flight data of the drone.

[0085] Step S103, determining the control strategy of the camera in the substation according to the inspection task.

[0086] Step S104, based on the control strategy of the camera, during the inspection process of the drone, the QR code set on the drone body is identified to determine the location information of the drone.

[0087] Step S105, correcting the flight data according to the drone position information to obtain the corrected position of the drone.

[0088] Optionally, the inspection task is determined based on environmental data of the substation.

[0089] Optionally, according to the inspection task, the drone is controlled to start the inspection, including: determining the flight path of the drone based on the inspection path; determining the flight speed of the drone based on the inspection time; and controlling the drone to start the inspection according to the flight path and the flight speed.

[0090] Optionally, obtaining the flight data of the UAV includes: obtaining the latitude and longitude data of the UAV and acquiring camera data through an onboard camera; and determining the flight data of the UAV based on the latitude and longitude data and the camera data.

[0091] Optionally, the QR code includes a first QR code and a second QR code, and based on the control strategy of the camera, during the UAV inspection process, the QR code set on the UAV body is identified to determine the UAV location information, including: during the UAV inspection process, based on the control strategy, controlling the camera to identify the first QR code and the second QR code, and determining the location data of the first QR code and the second QR code, wherein the first QR code and the second QR code are set on the UAV at intervals; determining the UAV location information based on the location data of the first QR code and the second QR code.

[0092] Optionally, the UAV inspection and navigation method also includes: comparing the corrected position with the position data in the inspection path to obtain a comparison result; in response to the comparison result indicating that the deviation between the corrected position and the position data in the inspection path is greater than a preset threshold, outputting an alarm prompt message.

[0093] Optionally, the UAV inspection navigation method further includes: in response to the end of the UAV inspection, controlling the machine nest to perform precision calibration on the inertial measurement unit in the UAV.

[0094] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned substation environment analysis method when running on a computer or a processor.

[0095] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0096] Step S101, obtaining an inspection task, wherein the inspection task includes an inspection path and an inspection time.

[0097] Step S102, according to the inspection task, control the drone to start inspection and obtain the flight data of the drone.

[0098] Step S103, determining the control strategy of the camera in the substation according to the inspection task.

[0099] Step S104, based on the control strategy of the camera, during the inspection process of the drone, the QR code set on the drone body is identified to determine the location information of the drone.

[0100] Step S105, correcting the flight data according to the drone position information to obtain the corrected position of the drone.

[0101] Optionally, the inspection task is determined based on environmental data of the substation.

[0102] Optionally, according to the inspection task, the drone is controlled to start the inspection, including: determining the flight path of the drone based on the inspection path; determining the flight speed of the drone based on the inspection time; and controlling the drone to start the inspection according to the flight path and the flight speed.

[0103] Optionally, obtaining the flight data of the UAV includes: obtaining the latitude and longitude data of the UAV and acquiring camera data through an onboard camera; and determining the flight data of the UAV based on the latitude and longitude data and the camera data.

[0104] Optionally, the QR code includes a first QR code and a second QR code, and based on the control strategy of the camera, during the UAV inspection process, the QR code set on the UAV body is identified to determine the UAV location information, including: during the UAV inspection process, based on the control strategy, controlling the camera to identify the first QR code and the second QR code, and determining the location data of the first QR code and the second QR code, wherein the first QR code and the second QR code are set on the UAV at intervals; determining the UAV location information based on the location data of the first QR code and the second QR code.

[0105] Optionally, the UAV inspection and navigation method also includes: comparing the corrected position with the position data in the inspection path to obtain a comparison result; in response to the comparison result indicating that the deviation between the corrected position and the position data in the inspection path is greater than a preset threshold, outputting an alarm prompt message.

[0106] Optionally, the UAV inspection navigation method further includes: in response to the end of the UAV inspection, controlling the machine nest to perform precision calibration on the inertial measurement unit in the UAV.

[0107] 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.

[0108] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the drone inspection and navigation method described in any of the above embodiments.

[0109] Optionally, in this embodiment, the above computer program implements the following steps when executed by a processor:

[0110] Step S101, obtaining an inspection task, wherein the inspection task includes an inspection path and an inspection time.

[0111] Step S102, according to the inspection task, control the drone to start inspection and obtain the flight data of the drone.

[0112] Step S103, determining the control strategy of the camera in the substation according to the inspection task.

[0113] Step S104, based on the control strategy of the camera, during the inspection process of the drone, the QR code set on the drone body is identified to determine the location information of the drone.

[0114] Step S105, correcting the flight data according to the drone position information to obtain the corrected position of the drone.

[0115] Optionally, the inspection task is determined based on environmental data of the substation.

[0116] Optionally, according to the inspection task, the drone is controlled to start the inspection, including: determining the flight path of the drone based on the inspection path; determining the flight speed of the drone based on the inspection time; and controlling the drone to start the inspection according to the flight path and the flight speed.

[0117] Optionally, obtaining the flight data of the UAV includes: obtaining the latitude and longitude data of the UAV and acquiring camera data through an onboard camera; and determining the flight data of the UAV based on the latitude and longitude data and the camera data.

[0118] Optionally, the QR code includes a first QR code and a second QR code, and based on the control strategy of the camera, during the UAV inspection process, the QR code set on the UAV body is identified to determine the UAV location information, including: during the UAV inspection process, based on the control strategy, controlling the camera to identify the first QR code and the second QR code, and determining the location data of the first QR code and the second QR code, wherein the first QR code and the second QR code are set on the UAV at intervals; determining the UAV location information based on the location data of the first QR code and the second QR code.

[0119] Optionally, the UAV inspection and navigation method also includes: comparing the corrected position with the position data in the inspection path to obtain a comparison result; in response to the comparison result indicating that the deviation between the corrected position and the position data in the inspection path is greater than a preset threshold, outputting an alarm prompt message.

[0120] Optionally, the UAV inspection navigation method further includes: in response to the end of the UAV inspection, controlling the machine nest to perform precision calibration on the inertial measurement unit in the UAV.

[0121] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0122] In some embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0123] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0124] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0125] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server or a grid device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc., which can store program codes.

[0126] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A drone inspection navigation method, characterized in that: include: Obtaining an inspection task, wherein the inspection task includes an inspection path and an inspection time; According to the inspection task, control the drone to start inspection and obtain flight data of the drone; Determine the control strategy of the camera in the substation according to the inspection task; Based on the control strategy of the camera, during the inspection process of the drone, the QR code set on the drone body is identified to determine the drone location information; The flight data is corrected according to the UAV position information to obtain a corrected position of the UAV.

2. The unmanned aerial vehicle inspection and navigation method according to claim 1, characterized in that: The inspection task is determined according to the environmental data of the substation.

3. The unmanned aerial vehicle inspection and navigation method according to claim 1, characterized in that: According to the inspection task, controlling the drone to start inspection includes: Based on the inspection path, determining a flight path of the UAV; Based on the inspection time, determining the flight speed of the drone; According to the flight path and the flight speed, the UAV is controlled to start inspection.

4. The unmanned aerial vehicle inspection and navigation method according to claim 1, characterized in that: The obtaining of the flight data of the UAV includes: Obtaining the latitude and longitude data of the UAV and the camera data collected by the onboard camera; The UAV flight data is determined according to the latitude and longitude data and the camera data.

5. The unmanned aerial vehicle inspection and navigation method according to claim 1, characterized in that: The two-dimensional code includes a first two-dimensional code and a second two-dimensional code. The control strategy based on the camera, during the inspection process of the drone, identifies the two-dimensional code set on the drone body to determine the drone location information, including: During the inspection process of the drone, based on the control strategy, the camera is controlled to identify the first two-dimensional code and the second two-dimensional code, and the position data of the first two-dimensional code and the second two-dimensional code are determined, wherein the first two-dimensional code and the second two-dimensional code are spaced apart and arranged on the drone; The drone location information is determined according to the location data of the first two-dimensional code and the second two-dimensional code.

6. The unmanned aerial vehicle inspection and navigation method according to claim 1, characterized in that: Also includes: Comparing the corrected position with the position data in the inspection path to obtain a comparison result; In response to the comparison result indicating that the deviation between the corrected position and the position data in the inspection path is greater than a preset threshold, an alarm prompt message is output.

7. The unmanned aerial vehicle inspection and navigation method according to claim 1, characterized in that: Also includes: In response to the completion of the inspection of the UAV, the control nest performs precision calibration on the inertial measurement unit in the UAV.

8. An unmanned aerial vehicle inspection navigation system, characterized in that: include: An acquisition module, used for acquiring an inspection task, wherein the inspection task includes an inspection path and an inspection time; A first control module, used to control the UAV to start inspection and obtain flight data of the UAV according to the inspection task; A determination module, used to determine a control strategy for a camera in a substation according to the inspection task; A second control module is used to identify the QR code set on the drone body and determine the drone location information during the drone inspection process based on the control strategy of the camera; The correction module is used to correct the flight data according to the position information of the UAV to obtain the corrected position of the UAV.

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 run the computer program to execute the drone inspection and navigation method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the drone inspection and navigation method described in any one of claims 1 to 7 when running on a computer or a processor.

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