Inspection system control method and device, equipment and storage medium

Abstract

The application discloses a kind of control method and device of inspection system, equipment and storage medium.The scheme includes: inspection system is provided with unmanned vehicle accompanying unmanned plane movement and can provide additional power for unmanned plane.According to the current power of unmanned plane and first current position, the target inspection point to which the next inspection task of unmanned plane is directed is determined from the set of points to be inspected;The power required to complete the inspection task for the target inspection point is not greater than the current power;If the target inspection point of the unmanned plane cannot be determined from the set of points to be inspected, the unmanned plane is instructed to stop at the unmanned vehicle.Thereby, when the power of the unmanned plane is insufficient to complete the inspection task, the unmanned plane airport on the unmanned vehicle provides power support for the unmanned plane;Thus, not only does it break the geographical limitations of fixed airports, but also increases the inspection range of the unmanned plane, while reducing the flight distance of the unmanned plane when refueling, improving the inspection efficiency of the unmanned plane.

Description

Control methods, devices, equipment and storage media for inspection systems Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) control technology, specifically to a control method, device, equipment, and storage medium for an inspection system. Background Technology

[0002] Drone inspection refers to the use of drone technology to conduct periodic or non-periodic inspections of specific areas or facilities. These drones can be equipped with high-precision instruments such as high-definition cameras, infrared thermal imagers, and multispectral sensors to achieve detailed observation and comprehensive data collection of ground conditions, building structures, and infrastructure health. Compared to traditional manual inspections, drone inspections have significant advantages in terms of speed, coverage, reduced operational risks, and improved work efficiency.

[0003] With technological advancements, modern drone inspection systems have achieved a high degree of automation. After completing their assigned inspection tasks, the drones automatically return to a pre-designated airport for charging or battery replacement, all without human intervention, realizing a truly 24 / 7 unmanned inspection mode. This level of automation not only further improves inspection efficiency but also effectively reduces labor costs, making drone inspection an important tool for many industries to improve their operation and maintenance management.

[0004] However, the communication distance between the drone and the airport, as well as the drone's flight range, limits the drone's inspection range. In inspection scenarios requiring large-area coverage, such as photovoltaic systems, multiple fixed airports need to be deployed to ensure service continuity and coverage, which increases the initial construction and operating costs of the system. Summary of the Invention

[0005] In view of this, embodiments of this application aim to provide a control method, apparatus, device, and storage medium for an inspection system, which can increase the inspection range of drones.

[0006] According to a first aspect of the embodiments of this application, a control method for an inspection system is provided, comprising:

[0007] According to a second aspect of the embodiments of this application, a control device for an inspection system is provided, comprising:

[0008] According to a third aspect of the present application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to perform the method described in any of the above embodiments.

[0009] According to a fourth aspect of the present application, a computer-readable storage medium is provided, the storage medium storing a computer program for performing the methods described in any of the above embodiments.

[0010] This application provides a control method, apparatus, device, and storage medium for an inspection system. The solution includes: an unmanned vehicle (UAV) that accompanies the UAV in its movement, providing additional power to the UAV. Based on the UAV's current location and current power level, a target inspection point for the UAV's next inspection task is determined from a set of inspection points; wherein the power required to complete the inspection task at the target inspection point is no greater than the current power level; if the target inspection point cannot be determined from the set of inspection points, the UAV is instructed to dock at the UAV. Thus, when the UAV's power is insufficient to complete the inspection task, power support is provided to the UAV via an airport on the UAV vehicle. This method not only overcomes the geographical limitations of fixed airports and increases the UAV's inspection range but also reduces the flight distance for recharging, improving the UAV's inspection efficiency. Attached Figure Description

[0011] Figure 1 is a schematic diagram of an implementation environment provided by an embodiment of this application.

[0012] Figure 2 is a flowchart illustrating the control method of an inspection system provided in one embodiment of this application.

[0013] Figure 3 is a block diagram of the control device of an inspection system provided in one embodiment of this application.

[0014] Figure 4 shows a structural block diagram of an electronic device provided in one embodiment of this application. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Application Overview

[0017] Photovoltaic power plants are typically located in remote areas, such as barren mountains, wastelands, or deserts, where signal coverage is poor, making it difficult to meet the needs of drone control and data transmission. Therefore, drone inspections usually rely on drone airports for drone control. Communication between drones and ground stations or fixed airports depends on specific radio frequency bands, whose transmission distances are often affected by physical environment and electromagnetic interference, thus limiting the inspection range of drones.

[0018] Furthermore, the flight time of drones is limited by battery capacity. Even with high-performance lithium polymer batteries, the flight time of drones is typically only a few tens of minutes. This means that after completing a certain distance of flight mission, drones must return to the airport to recharge or replace the batteries; otherwise, they will face the risk of running out of power and being unable to continue their mission.

[0019] In summary, communication distance limitations and battery life severely restrict the inspection efficiency and range of drones.

[0020] To address the aforementioned technical issues, this application proposes setting up a drone airport on an unmanned vehicle that moves alongside the drone. When the drone's battery is insufficient to complete the inspection task, the drone airport on the unmanned vehicle provides power support. This approach not only overcomes the geographical limitations of fixed airports and increases the drone's inspection range but also reduces the flight distance the drone travels to and from charging, thereby improving the drone's inspection efficiency.

[0021] After introducing the basic principles of this application, various non-limiting embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0022] Exemplary System

[0023] Figure 1 is a schematic diagram of an implementation environment provided in an embodiment of this application. The implementation environment includes a drone 110, an unmanned vehicle 120, and a computing device 130. The drone 110 is used to perform inspection tasks and collect inspection data. The drone 110 can be connected to the unmanned vehicle 120 via a communication network. The computing device 130 can be connected to the unmanned vehicle 120 via a communication network. The computing device 130 can obtain inspection data from the drone 110 through the unmanned vehicle 120. Optionally, the communication network can be a wired network or a wireless network.

[0024] The UAV 110 is equipped with high-precision devices such as high-definition cameras, infrared thermal imagers, and multispectral sensors for detailed observation and data collection of target areas such as photovoltaic power plants. It can autonomously fly to designated areas, perform inspection tasks, and transmit the collected inspection data to the unmanned vehicle 120 in real time.

[0025] As a mobile drone airport, the unmanned vehicle 120 not only provides power support and maintenance for the drone 110, but also acts as a relay station to enhance the communication connection between the drone and the computing device 130. The unmanned vehicle 120 can move on the ground to adapt to different inspection needs, ensuring that the drone 110 can obtain continuous communication and power support when performing tasks.

[0026] The computing device 130 may be a general-purpose computer or a computer device composed of dedicated integrated circuits, etc., and this application embodiment does not limit this. For example, the computing device 130 may be a mobile terminal device such as a tablet computer, or it may be a personal computer (PC), such as a laptop computer and a desktop computer, etc. Those skilled in the art will know that the number of the above-mentioned computing devices 130 may be one or more, and their types may be the same or different. For example, there may be one computing device 130, or there may be dozens or hundreds of computing devices 130, or more. This application embodiment does not limit the number and type of computing devices 130.

[0027] Exemplary methods

[0028] Figure 2 is a flowchart illustrating a control method for an inspection system according to an embodiment of this application. The method described in Figure 2 is executed by a drone, an unmanned vehicle, or a computing device connected to the drone or unmanned vehicle via data connection; this embodiment of the application does not limit this method. The inspection system includes an unmanned vehicle and a drone for performing inspection tasks; the unmanned vehicle is used to accompany the drone and increase the drone's battery power.

[0029] As shown in Figure 2, the method includes the following:

[0030] Step S210: Obtain the set of inspection points consisting of the inspection points to be inspected.

[0031] In this application embodiment, the drone is officially called an unmanned aerial vehicle (UAV), which refers to an unmanned aircraft controlled by radio remote control equipment and its own program control device, or an aircraft that is fully or intermittently operated autonomously by an onboard computer. Drones are actually a general term for unmanned aerial vehicles, including unmanned fixed-wing aircraft, unmanned vertical takeoff and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned paragliders, etc.

[0032] In this embodiment of the application, the drone may be equipped with inspection equipment such as high-definition cameras, infrared thermal imagers, and multispectral sensors, for inspecting and collecting data at photovoltaic power station inspection points.

[0033] In this embodiment, the unmanned vehicle, also known as an autonomous vehicle, driverless vehicle, computer-driven vehicle, or wheeled mobile robot, is an intelligent vehicle that primarily relies on an in-vehicle computer system to achieve driverless operation. It can perceive its surroundings through various sensors (such as cameras, lidar, millimeter-wave radar, GPS, and inertial sensors), identify the vehicle's environment and status, and autonomously analyze and judge based on the acquired environmental information (including road information, traffic information, vehicle position, and obstacle information), thereby autonomously controlling the vehicle's movement and ultimately achieving driverless operation.

[0034] In this embodiment of the application, the unmanned vehicle can provide additional power to the drone, and the method of providing additional power may include at least one of charging via power cord, wireless charging, and battery replacement.

[0035] In this embodiment of the application, the unmanned vehicle may be equipped with a drone airport for charging or replacing the batteries of the drone; the drone airport may include an airport cabin, a top cover door, a lifting platform, and a mechanical structure for fixing the drone, as well as an automatic charging system, an automatic battery swapping system, etc.

[0036] In this embodiment, the inspection points can be geographical locations preset according to the inspection task. The process of the drone inspecting the preset area can be that the drone flies to each inspection point in sequence and collects inspection data at each inspection point (e.g., taking photos, collecting videos, radar scanning, etc.).

[0037] In this embodiment of the application, the set of points to be inspected is a set composed of the points to be inspected.

[0038] Step S220: Based on the current location of the drone and its current battery level, determine the target inspection point for the next inspection task of the drone from the set of inspection points; wherein the battery level required to complete the inspection task for the target inspection point is no greater than the current battery level.

[0039] In this embodiment, the first current location may refer to the current location of the drone. In practical applications, the first current location and the current battery level can be updated in real time at a preset frequency.

[0040] In this embodiment, the target inspection point can be the inspection point to be inspected by the next inspection task of the UAV. Furthermore, if the power required for the UAV to perform an inspection task on a certain inspection point is greater than the UAV's current power level, that inspection point cannot be determined as a target inspection point. That is, the target inspection point can only be an inspection point that the UAV's current power level allows it to complete the inspection.

[0041] In this embodiment of the application, the target inspection point can be the inspection point closest to the first current position, or it can be the inspection point determined according to the preset inspection order, without any specific limitation.

[0042] In this embodiment of the application, before the drone begins to perform an inspection task, after the drone completes an inspection task for an inspection point, and after the drone replenishes its power from the unmanned vehicle, the target inspection point of the drone is determined from the set of inspection points based on the drone's current power and first current position.

[0043] Step S230: If the target inspection point cannot be determined from the set of inspection points, a first instruction is generated; the first instruction is used to instruct the drone to dock at the unmanned vehicle.

[0044] In this embodiment, the inability to determine the target inspection point from the set of inspection points includes at least the following two situations: ① There are still inspection points in the set, but the drone's current battery power is insufficient to complete the inspection task for any of the inspection points; ② There are no inspection points in the set, meaning the drone has completed all inspection tasks. In both of these situations, an instruction is generated for the drone to land at the unmanned vehicle. This allows the unmanned vehicle to charge the drone or replace the battery at the drone.

[0045] In this embodiment of the application, after determining the target inspection point of the drone from the set of inspection points based on the drone's current battery level and first current position, the method further includes: if the target inspection point of the drone is determined from the set of inspection points, generating an instruction; this instruction is used to instruct the drone to move towards the target inspection point and perform an inspection task for the target inspection point. If the drone completes the inspection task for the target inspection point, the target inspection point is removed from the set of inspection points.

[0046] In this embodiment, the inspection system includes an unmanned vehicle (UAV) that accompanies the UAV and provides additional power to the UAV. Based on the UAV's current location and current battery level, the target inspection point for the UAV's next inspection task is determined from the set of inspection points. The power required to complete the inspection task at the target inspection point is no greater than the current battery level. If the target inspection point cannot be determined from the set of inspection points, the UAV is instructed to dock at the UAV. Thus, when the UAV's battery is insufficient to complete the inspection task, the UAV airport on the UAV vehicle provides power support. This method not only overcomes the geographical limitations of fixed airports and increases the UAV's inspection range but also reduces the flight distance required for recharging, improving the UAV's inspection efficiency.

[0047] Based on the method in Figure 2, this specification also provides some specific implementation schemes of the method, which are described below.

[0048] Optionally, determining the target inspection point of the drone from the set of inspection points based on the drone's current battery level and first current location includes:

[0049] Based on the first current position, calculate the amount of electricity required to complete the inspection task for each of the inspection points in the set of inspection points;

[0050] Add the inspection points whose required power is no greater than the current power to the set of feasible inspection points.

[0051] The target inspection point is obtained by determining the inspection point closest to the first current position from the set of feasible inspection points.

[0052] In this embodiment, the feasible inspection point set includes: inspection points where the drone's current battery level is sufficient to complete the inspection. If the feasible inspection point set is empty, the target inspection point cannot be determined from the inspection point set, and the first instruction for instructing the drone to dock at the unmanned vehicle is subsequently generated.

[0053] The step of calculating the power required to complete the inspection task for each of the inspection points in the set of inspection points based on the first current position includes: for each of the inspection points in the set of inspection points, calculating the power required to complete the inspection task for that inspection point based on the distance between the first current position and the inspection point, and the inspection task at that inspection point.

[0054] In this embodiment of the application, the inspection points to be inspected are first screened out when the current power of the drone is sufficient to complete the inspection, and then the inspection point closest to the drone is selected as the target inspection point; thus, the target inspection point is selected reasonably so that the inspection task of all target points can be completed as efficiently as possible in the entire inspection area.

[0055] In this embodiment, determining the target inspection point by selecting the nearest inspection point to the first current position from the set of feasible inspection points includes: determining the nearest inspection point to the first current position from the set of feasible inspection points to obtain the nearest feasible point; if the distance between the nearest feasible point and the first current position is not greater than a preset distance threshold, then the nearest feasible point is determined as the target inspection point. If the distance between the nearest feasible point and the first current position is greater than the preset distance threshold, then the target inspection point cannot be determined from the set of inspection points, and subsequently, the first instruction for instructing the drone to dock at the unmanned vehicle is generated.

[0056] Optionally, determining the target inspection point of the drone from the set of inspection points based on the drone's current battery level and first current location includes:

[0057] From the set of inspection points, determine the nearest inspection point that is closest to the first current position;

[0058] Based on the first current location, calculate the amount of electricity required to complete the inspection task for the nearest inspection point;

[0059] If the power required to complete the inspection task for the nearest inspection point is not greater than the current power, then the nearest inspection point is determined as the target inspection point.

[0060] In this embodiment of the application, the nearest inspection point can be the inspection point that is closest to the first current position in the set of inspection points.

[0061] In this embodiment of the application, the calculation of the power required to complete the inspection task for the nearest inspection point includes: calculating the power required to complete the inspection task for the inspection point based on the distance between the first current location and the nearest inspection point, and the inspection task at the nearest inspection point.

[0062] In this embodiment of the application, if the power required to complete the inspection task for the nearest inspection point is greater than the current power, the target inspection point cannot be determined from the set of inspection points, and the first instruction for instructing the drone to dock at the unmanned vehicle is subsequently generated.

[0063] In this embodiment, the nearest inspection point to the first current location is first determined. If the power required to complete the inspection task for the nearest inspection point is no greater than the current power, then the nearest inspection point is determined as the target inspection point. This reasonable selection of target inspection points ensures that the inspection tasks for all target points are completed as efficiently as possible throughout the entire inspection area.

[0064] In this embodiment of the application, determining the target inspection point of the drone from the set of inspection points based on the drone's current battery level and first current location further includes:

[0065] The step of determining the nearest inspection point to the first current position from the set of feasible inspection points to obtain the target inspection point includes: if the distance between the nearest inspection point and the first current position is not greater than a preset distance threshold, then the target inspection point cannot be determined from the set of inspection points, and subsequently the first instruction for instructing the drone to dock at the unmanned vehicle is generated.

[0066] In this embodiment of the application, obtaining the set of inspection points consisting of inspection points includes: obtaining a sequence of inspection points consisting of inspection points; the sequence of inspection points is used to represent the order in which the drone proceeds from its initial position to each inspection point for inspection; determining the target inspection point of the drone from the set of inspection points includes: if the drone's current battery power is sufficient to complete the inspection task for the first inspection point in the sequence of inspection points, then the first inspection point in the sequence of inspection points is determined as the target inspection point; the method further includes: if the drone completes the inspection task for the inspection point, then the inspection point is removed from the sequence of inspection points.

[0067] Optionally, calculate the power required to complete the inspection task for any point to be inspected, including:

[0068] Obtain the first battery level required for the drone to inspect the inspection point at the inspection point;

[0069] Based on the distance between the first current location and the inspection point, calculate the second power required for the drone to move to the inspection point;

[0070] Calculate the sum of the first power and the second power to obtain the power required to complete the inspection task for any point to be inspected.

[0071] In this embodiment of the application, obtaining the first power required by the drone to inspect the inspection point may include: obtaining the inspection time required by the drone to inspect the inspection point, and the first power consumption of the drone during the inspection; calculating the product of the inspection time and the first power consumption to obtain the first power.

[0072] In this embodiment of the application, the step of calculating the second power required for the drone to move to the inspection point based on the distance between the first current location and the inspection point includes: calculating the product of the movement time and the first power consumption per unit time of the drone, based on the distance between the first current location and the inspection point, the movement time required for the drone to move to the inspection point, and the second power consumption per unit time of the drone during movement, to obtain the second power.

[0073] In practical applications, if the power consumption per unit time and the power consumption per unit time are close, the sum of the inspection time and the movement time can be calculated to obtain the operation time. The product of the power consumption per unit time of the operation time can be calculated to obtain the power required to complete the inspection task for any inspection point.

[0074] In this embodiment of the application, the step of calculating the second power required for the drone to move to the inspection point based on the distance between the first current location and the inspection point includes: calculating the second power based on the first distance between the first current location and the inspection point, and the power consumption per unit distance of the drone during movement; and calculating the product of the first distance and the first power consumption per unit time to obtain the second power.

[0075] In this embodiment, the first power required for the drone to inspect the inspection point and the second power required for the drone to move to the inspection point are obtained; the sum of the first power and the second power is calculated to obtain the power required to complete the inspection task for any inspection point. This accurate calculation of the power required to complete the inspection task for any inspection point helps prevent the drone from losing contact due to insufficient power during the inspection process.

[0076] Optionally, after determining the target inspection point of the drone from the set of inspection points based on the drone's current battery level and first current location, the method further includes:

[0077] If the target inspection point cannot be determined from the set of inspection points, a second instruction is generated; the second instruction is used to instruct the unmanned vehicle to move to the first current position.

[0078] In this embodiment of the application, the second instruction is used to cause the driverless car to greet the driverless car.

[0079] In practical applications, the unmanned vehicle obtains its own second current position and the first current position of the drone in real time, and updates the path planning from the second current position to the first current position in real time.

[0080] In this embodiment of the application, when the current battery power of the drone is insufficient to complete the inspection task for any inspection point, the drone and the unmanned vehicle are instructed to move towards each other, so as to further reduce the flight distance of the drone to and from charging and improve the inspection efficiency of the drone.

[0081] Optionally, after generating the first instruction, the method further includes:

[0082] After the drone docks at the unmanned vehicle, a third instruction is generated; the third instruction is used to instruct the unmanned vehicle to charge the drone, or to instruct the unmanned vehicle to replace the drone's battery.

[0083] If the current battery level of the drone meets the preset battery threshold, the target inspection point of the drone is determined again from the set of inspection points.

[0084] In this embodiment, the unmanned vehicle is used to charge the drone or to replace the drone's battery. Specifically, the drone airport installed on the unmanned vehicle has an automatic charging system or an automatic battery swapping system. The third instruction is used to instruct the automatic charging system at the unmanned vehicle to charge the drone, or to instruct the automatic battery swapping system at the unmanned vehicle to replace the drone's battery.

[0085] In this embodiment of the application, the preset power threshold can be used to limit the current power of the drone to be greater than or equal to a preset ratio; or, the preset power threshold can be used to limit the current power of the drone to be greater than or equal to the completion of the inspection task for all the inspection points.

[0086] In this embodiment, when the unmanned vehicle is charging the drone, the first time required for charging the drone is calculated based on the drone's current battery level, a preset battery threshold, and the charging power. After waiting for the first time, it is determined that the drone's current battery level meets the preset battery threshold condition.

[0087] In this embodiment of the application, after determining the target inspection point of the UAV again from the set of inspection points, the method further includes: if the target inspection point of the UAV is determined from the set of inspection points, generating an instruction; this instruction is used to instruct the UAV to move towards the target inspection point and perform an inspection task for the target inspection point. If the UAV completes the inspection task for the inspection point, the inspection point is removed from the set of inspection points.

[0088] In this embodiment of the application, by using an unmanned vehicle to replenish the power of the drone and continuing the unfinished inspection task after the power is restored, the geographical limitations of fixed airports are broken, the inspection range of the drone is increased, the flight distance of the drone to and from charging is reduced, and the inspection efficiency of the drone is improved.

[0089] Optionally, after generating the first instruction, the method further includes:

[0090] When the unmanned vehicle is charging the drone, if the set of inspection points is not empty, the nearest inspection point closest to the unmanned vehicle is determined from the set of inspection points, and a fourth instruction is generated; the fourth instruction is used to instruct the unmanned vehicle to move to the nearest inspection point.

[0091] In this embodiment of the application, the nearest inspection point is the inspection point in the set of inspection points that is closest to the unmanned vehicle (and also closest to the drone).

[0092] In this embodiment of the application, after receiving the fourth instruction, the unmanned vehicle generates a path plan from its second current location to the nearest inspection point. The unmanned vehicle then travels to the nearest inspection point based on this path plan.

[0093] In this embodiment of the application, when the unmanned vehicle is charging the drone, it is instructed to go to the nearest inspection point, thereby reducing the drone's flight time and improving the drone's inspection efficiency.

[0094] Optionally, the method further includes:

[0095] Obtain the second current location of the unmanned vehicle;

[0096] Calculate the horizontal distance between the drone and the unmanned vehicle based on the first current position and the second current position;

[0097] If the horizontal distance is greater than the first preset distance, a fifth instruction is generated; the fifth instruction is used to instruct the unmanned vehicle to move to the first current position.

[0098] In this embodiment of the application, the horizontal distance can be calculated based on the latitude and longitude coordinates of the first current position and the second current position.

[0099] In this embodiment of the application, the first preset distance can be set according to the actual situation, and can be set to a small distance, such as 10 meters, 50 meters, 100 meters, etc., without specific limitations.

[0100] In this embodiment, the first current position is the current location of the drone, and the fifth instruction is used to instruct the unmanned vehicle to move alongside the drone. Once the distance between the two is no greater than a first preset distance, the unmanned vehicle is instructed to stop moving.

[0101] In this embodiment, when the horizontal distance between the drone and the unmanned vehicle is greater than a first preset distance, the unmanned vehicle moves towards the drone to reduce the distance between them. This enhances the reliability and stability of communication between the two. It also helps reduce the drone's flight distance when recharging, improving the drone's inspection efficiency.

[0102] Optionally, the method further includes:

[0103] Calculate the vehicle-to-machine distance between the drone and the unmanned vehicle based on the first current position and the second current position;

[0104] If the distance between the vehicle and the drone is greater than the second preset distance, a sixth instruction is generated; the second preset distance is determined based on the maximum communication distance between the drone and the unmanned vehicle; the second preset distance is greater than the first preset distance; the sixth instruction is used to instruct the drone to pause its movement, or to instruct the drone to move to reduce the distance between the vehicle and the drone.

[0105] In this embodiment, the vehicle-to-machine distance is the distance between the drone and the unmanned vehicle. In most cases (except for complex scenarios such as mountainous or hilly areas), the vehicle-to-machine distance can also be the horizontal distance between the two.

[0106] In this embodiment, the second preset distance can be set according to the maximum communication distance between the UAV and the unmanned vehicle, for example, 80% of the maximum communication distance. In practical applications, the second preset distance is usually much larger than the first preset distance; for example, the second preset distance is 3 kilometers and the first preset distance is 30 meters.

[0107] In this embodiment, the sixth instruction is used to prevent the communication connection between the drone and the unmanned vehicle from being interrupted. Generally, the sixth instruction is used to instruct the drone to pause its movement (e.g., hover). In practical applications, there are special cases where the unmanned vehicle moving towards the drone would further degrade the communication quality between the two. In such cases, the sixth instruction can be used to instruct the drone to move to reduce the distance between the vehicle and the drone; for example, when the unmanned vehicle needs to take a detour to move towards the drone, or when moving towards the drone would actually increase the distance between the two, or when there are obstacles (mountains or buildings) between them.

[0108] In this embodiment, when the distance between the drone and the unmanned vehicle is greater than a first preset distance, the unmanned vehicle moves alongside the drone; when the distance between them is greater than a second preset distance, the drone pauses its movement or moves toward the unmanned vehicle to ensure stable communication between them. This allows the unmanned vehicle to facilitate the drone's inspection tasks as much as possible, helping to improve inspection efficiency and safety, reducing the risk of task interruption or failure due to communication disruptions, and ensuring the reliability of data transmission.

[0109] Exemplary device

[0110] The apparatus embodiments of this application can be used to execute the method embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the method embodiments of this application.

[0111] Figure 3 shows a block diagram of a control device for an inspection system according to an embodiment of this application. The inspection system includes an unmanned vehicle and a drone for inspection; the unmanned vehicle is used to accompany the drone and increase the drone's battery power; as shown in Figure 3, the device 300 includes:

[0112] The acquisition module 310 is used to acquire a set of inspection points consisting of inspection points;

[0113] The inspection target module 320 is used to determine the target inspection point for the next inspection task of the drone from the set of inspection points based on the drone's current first current position and current battery level; wherein the battery level required to complete the inspection task for the target inspection point is not greater than the current battery level.

[0114] The instruction generation module 330 is used to generate a first instruction if the target inspection point cannot be determined from the set of inspection points; the first instruction is used to instruct the drone to dock at the unmanned vehicle.

[0115] Optionally, the inspection target module 320 includes:

[0116] The power calculation unit is used to calculate the power required to complete the inspection task for each of the inspection points in the set of inspection points based on the first current position.

[0117] The feasible point determination unit is used to add the inspection points whose required power is not greater than the current power to the feasible inspection point set;

[0118] The target inspection point determination unit is used to determine the inspection point that is closest to the first current position from the set of feasible inspection points, and obtain the target inspection point;

[0119] Optionally, determining the target inspection point of the drone from the set of inspection points based on the drone's current battery level and first current location includes:

[0120] The nearest point determination unit is used to determine the nearest point to be inspected from the set of points to be inspected, which is closest to the first current position;

[0121] The power calculation unit is used to calculate the power required to complete the inspection task for the nearest inspection point based on the first current position.

[0122] The target inspection point determination unit is used to determine the nearest inspection point as the target inspection point if the power required to complete the inspection task for the nearest inspection point is not greater than the current power.

[0123] Optional, a power calculation unit, used for:

[0124] Obtain the first battery level required for the drone to inspect the inspection point at the inspection point;

[0125] Based on the distance between the first current location and the inspection point, calculate the second power required for the drone to move to the inspection point;

[0126] Calculate the sum of the first power and the second power to obtain the power required to complete the inspection task for any point to be inspected.

[0127] Optionally, the instruction generation module 330 is further configured to generate a second instruction if the target inspection point cannot be determined from the set of inspection points; the second instruction is used to instruct the unmanned vehicle to move to the first current position.

[0128] Optionally, the instruction generation module 330 is further configured to:

[0129] After the drone docks at the unmanned vehicle, a third instruction is generated; the third instruction is used to instruct the unmanned vehicle to charge the drone, or to instruct the unmanned vehicle to replace the drone's battery.

[0130] The inspection target module 320 is also used to determine the target inspection point of the drone from the set of inspection points again when the current battery level of the drone meets the preset battery threshold condition.

[0131] Optionally, the instruction generation module 330 is further configured to:

[0132] When the unmanned vehicle is charging the drone, if the set of inspection points is not empty, the nearest inspection point closest to the unmanned vehicle is determined from the set of inspection points, and a fourth instruction is generated; the fourth instruction is used to instruct the unmanned vehicle to move to the nearest inspection point.

[0133] Optionally, the device 300 further includes:

[0134] The distance calculation module is used to obtain the second current position of the unmanned vehicle; and to calculate the horizontal distance between the drone and the unmanned vehicle based on the first current position and the second current position.

[0135] The instruction generation module 330 is further configured to generate a fifth instruction if the horizontal distance is greater than a first preset distance; the fifth instruction is used to instruct the unmanned vehicle to move toward the first current position.

[0136] Optionally, the distance calculation module is further configured to calculate the vehicle-to-machine distance between the drone and the unmanned vehicle based on the first current position and the second current position;

[0137] The instruction generation module 330 is further configured to generate a sixth instruction if the distance between the vehicle and the drone is greater than a second preset distance; the second preset distance is determined based on the maximum communication distance between the drone and the unmanned vehicle; the second preset distance is greater than a first preset distance; the sixth instruction is used to instruct the drone to pause its movement, or to instruct the drone to move to reduce the distance between the vehicle and the drone.

[0138] Exemplary electronic devices

[0139] Hereinafter, an electronic device according to an embodiment of the present application will be described with reference to FIG4. FIG4 illustrates a block diagram of an electronic device according to an embodiment of the present application.

[0140] As shown in Figure 4, the electronic device 400 includes one or more processors 410 and memory 420.

[0141] The processor 410 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.

[0142] The memory 420 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 410 may execute the program instructions to implement the control methods of the inspection systems of the various embodiments of this application described above, and / or other desired functions. Various contents, such as category correspondence, may also be stored in the computer-readable storage medium.

[0143] In one example, the electronic device 400 may also include an input device 430 and an output device 440, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0144] In addition, the input device 430 may also include, for example, a keyboard, a mouse, etc. The output device 440 can output various information to the outside. The output device 440 may include, for example, a monitor, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0145] Of course, for simplicity, Figure 4 only shows some of the components of the electronic device 400 relevant to this application, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device 400 may include any other suitable components depending on the specific application.

[0146] Exemplary computer program products and computer-readable storage media

[0147] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the control methods of the inspection system according to various embodiments of this application as described in the "Exemplary Methods" section of this specification.

[0148] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0149] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the control method of the inspection system according to various embodiments of this application described in the "Exemplary Methods" section of this specification.

[0150] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0151] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0152] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0153] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0154] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0155] It should be understood that the qualifiers “first,” “second,” “third,” “fourth,” “fifth,” and “sixth” used in the description of the embodiments of this application are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of this application.

[0156] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A control method for an inspection system, characterized in that, The inspection system includes an unmanned vehicle (UAV) and a drone for performing inspection tasks; the UAV accompanies the drone and provides power to the drone; the method includes: acquiring a set of inspection points; determining, based on the drone's current location and current battery level, a target inspection point for the drone's next inspection task from the set of inspection points; wherein the power required to complete the inspection task for the target inspection point is no greater than the current battery level; the target inspection point is the closest inspection point to the first current location, and the current battery level is sufficient to complete the inspection; if the target inspection point cannot be determined from the set of inspection points, a first instruction is generated; the first instruction instructs the drone to dock at the UAV.

2. The method according to claim 1, characterized in that, The step of determining the target inspection point for the next inspection task of the drone from the set of inspection points based on the drone's current first current location and current battery level includes: calculating the power required to complete the inspection task for each of the inspection points in the set of inspection points based on the first current location; adding inspection points whose required power is not greater than the current battery level to a set of feasible inspection points; determining the inspection point closest to the first current location from the set of feasible inspection points to obtain the target inspection point; or, determining the nearest inspection point closest to the first current location from the set of inspection points; calculating the power required to complete the inspection task for the nearest inspection point based on the first current location; if the power required to complete the inspection task for the nearest inspection point is not greater than the current battery level, then the nearest inspection point is determined as the target inspection point.

3. The method according to claim 2, characterized in that, Calculating the power required to complete the inspection task for any inspection point includes: obtaining the first power required for the drone to inspect the inspection point from the inspection point location; calculating the second power required for the drone to move to the inspection point based on the distance between the first current location and the inspection point; and calculating the sum of the first power and the second power to obtain the power required to complete the inspection task for any inspection point.

4. The method according to claim 1, characterized in that, After determining the target inspection point for the next inspection task of the drone from the set of inspection points based on the drone's current first current location and current battery level, the method further includes: if the target inspection point cannot be determined from the set of inspection points, then generating a second instruction; the second instruction is used to instruct the drone to move towards the first current location.

5. The method according to any one of claims 1 or 4, characterized in that, After generating the first instruction, the method further includes: after the drone docks at the unmanned vehicle, generating a third instruction; the third instruction is used to instruct the unmanned vehicle to charge the drone, or to instruct the unmanned vehicle to replace the drone's battery; if the drone's current battery level meets a preset battery threshold condition, the target inspection point of the drone is determined again from the set of inspection points.

6. The method according to claim 5, characterized in that, After generating the first instruction, the method further includes: if the unmanned vehicle is charging the drone, and the set of inspection points is not empty, then the nearest inspection point closest to the unmanned vehicle is determined from the set of inspection points, and a fourth instruction is generated; the fourth instruction is used to instruct the unmanned vehicle to move to the nearest inspection point.

7. The method according to claim 1, characterized in that, The method further includes: obtaining the second current position of the unmanned vehicle; calculating the horizontal distance between the drone and the unmanned vehicle based on the first current position and the second current position; if the horizontal distance is greater than a first preset distance, generating a fifth instruction; the fifth instruction is used to instruct the unmanned vehicle to move towards the first current position.

8. The method according to claim 7, characterized in that, The method further includes: calculating the vehicle-to-device distance between the drone and the unmanned vehicle based on the first current position and the second current position; if the vehicle-to-device distance is greater than a second preset distance, generating a sixth instruction; the second preset distance is determined based on the maximum communication distance between the drone and the unmanned vehicle; the second preset distance is greater than a first preset distance; the sixth instruction is used to instruct the drone to pause its movement, or to instruct the drone to move to reduce the vehicle-to-device distance.

9. A control device for an inspection system, characterized in that, The inspection system includes an unmanned vehicle (UAV) and a drone for inspection; the UAV accompanies the drone and increases the drone's battery power; the device includes: an acquisition module for acquiring a set of inspection points; an inspection target module for determining, based on the drone's current location and battery power, the target inspection point for the drone's next inspection task from the set of inspection points; wherein the battery power required to complete the inspection task for the target inspection point is no greater than the current battery power; the target inspection point is the closest to the first current location and the current battery power is sufficient to complete the inspection; and an instruction generation module for generating a first instruction if the target inspection point cannot be determined from the set of inspection points; the first instruction instructs the drone to dock at the UAV.

10. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to perform the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1 to 8.

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