Control Method, Device, Medium and Equipment for an Indoor Inspection UAV

Abstract

The present application provides a control method, device, medium and equipment for an indoor inspection unmanned aerial vehicle (UAV). By decomposing the inspection task to determine the inspection targets, a first inspection path is generated according to the position information of the inspection targets. During the actual inspection process, the deviation degree between the target UAV and the first inspection path is calculated in real time. If the deviation is large, the distance between the target UAV and the Nth inspection point is calculated. If this distance is small, a second inspection path of the target UAV is reconstructed with the (N + 1)th inspection point as the target to control the position between the target UAV and the inspection points and ensure the inspection effect. Moreover, the flight attitude of the target UAV is determined according to the position of the Nth inspection point to ensure the shooting angle of the Nth inspection point, thereby improving the shooting effect and then improving the inspection effect.

Description

Technical Field

[0001] This application relates to the technical field of flight control of inspection drones, and particularly to a control method, device, medium and equipment for indoor inspection drones. Background Art

[0002] In relatively narrow indoor environments such as existing power distribution rooms, manual inspection is difficult and there are certain safety hazards. The structure in the power distribution room is relatively complex. The existing indoor drone inspection system uses a UWB positioning system to position the drone. Due to strong electromagnetic interference in the power distribution room, the positioning of the drone has poor accuracy and is vulnerable to interference, resulting in a large error in the data collected by the drone. Therefore, a method for precise positioning of drones in power distribution rooms is needed. Summary of the Invention

[0003] To solve the above technical problems, this application is proposed. Embodiments of this application provide a control method, device, medium and equipment for indoor inspection drones.

[0004] According to one aspect of this application, a control method for an indoor inspection drone is provided, including: decomposing an inspection task to obtain multiple inspection targets; generating a first inspection path of a target drone based on the position information of the multiple inspection targets; where the first inspection path includes inspection points corresponding to the multiple inspection targets respectively; calculating an offset angle between a first connection line formed between the current position of the target drone and the Nth inspection point and a second connection line formed between the (N - 1)th inspection point and the Nth inspection point; where the current position of the target drone is located between the (N - 1)th inspection point and the Nth inspection point, and N is an integer greater than 1; if the offset angle is greater than a preset angle threshold, then calculate the spatial distance between the current position of the target drone and the Nth inspection point; if the spatial distance is less than a preset distance threshold, then construct a second inspection path of the target drone based on the current position of the target drone and the (N + 1)th inspection point; determining the flight attitude of the target drone based on the second inspection path and the position of the inspection target corresponding to the Nth inspection point.

[0005] In one embodiment, the decomposing the inspection task to obtain multiple inspection targets includes: obtaining the position information of all inspection objects in the inspection area; determining the inspection objects corresponding to the inspection task based on the inspection task; determining the position information of the multiple inspection targets based on the characteristic information of the inspection objects corresponding to the inspection task.

[0006] In one embodiment, generating a first inspection path of the target UAV based on the position information of the multiple inspection targets includes: determining inspection points corresponding to the multiple inspection targets based on the position information of the multiple inspection targets and the shooting distance of the target UAV; generating a first inspection path of the target UAV based on the multiple inspection points.

[0007] In one embodiment, constructing a second inspection path of the target UAV based on the current position of the target UAV and the (N + 1)-th inspection point includes: taking the position of the inspection target corresponding to the N-th inspection point as the center of a circle, and constructing a second inspection path connecting the current position of the target UAV and the (N + 1)-th inspection point; determining the flight attitude of the target UAV based on the second inspection path and the position of the inspection target corresponding to the N-th inspection point includes: taking the inspection target corresponding to the N-th inspection point as the shooting target, and determining the shooting angle of the camera of the target UAV.

[0008] In one embodiment, the control method of the indoor inspection UAV further includes: obtaining the inspection paths of other UAVs; if there is an overlapping path between the inspection path of the other UAVs and the first inspection path of the target UAV, calculating a first time for the target UAV to enter the overlapping path and a second time for the other UAVs to enter the overlapping path; if the time difference between the first time and the second time is less than a preset time threshold, adjusting the first inspection path to obtain a third inspection path.

[0009] In one embodiment, adjusting the first inspection path to obtain a third inspection path includes: obtaining the inspection targets corresponding to the overlapping path; adjusting the inspection targets corresponding to the overlapping path to the starting inspection target or the terminal inspection target of the inspection path of the target UAV to obtain the third inspection path.

[0010] In one embodiment, the control method of the indoor inspection UAV further includes: monitoring the remaining power of the target UAV; calculating the power demand of the target UAV based on the first inspection path of the target UAV; if the difference between the remaining power and the power demand is less than a preset power threshold, controlling the target UAV to return to the charging position of the nest.

[0011] According to another aspect of the present application, there is provided a control device for an indoor inspection drone, including: an inspection target decomposition module for decomposing an inspection task to obtain a plurality of inspection targets; a first path generation module for generating a first inspection path of the target drone based on the position information of the plurality of inspection targets; wherein the first inspection path includes inspection points corresponding to the plurality of inspection targets respectively; an offset angle calculation module for calculating an offset angle between a first connection line formed between the current position of the target drone and the Nth inspection point and a second connection line formed between the (N - 1)th inspection point and the Nth inspection point; wherein the current position of the target drone is located between the (N - 1)th inspection point and the Nth inspection point, and N is an integer greater than 1; a spatial distance calculation module for calculating a spatial distance between the current position of the target drone and the Nth inspection point if the offset angle is greater than a preset angle threshold; a second path construction module for constructing a second inspection path of the target drone based on the current position of the target drone and the (N + 1)th inspection point if the spatial distance is less than a preset distance threshold; a flight attitude determination module for determining the flight attitude of the target drone based on the second inspection path and the position of the inspection target corresponding to the Nth inspection point.

[0012] According to another aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing any of the above methods.

[0013] According to another aspect of the present application, there is provided an electronic device, including: a processor; a memory for storing executable instructions of the processor; the processor is configured to execute any of the above methods.

[0014] A control method, device, medium, and equipment for an indoor inspection drone provided by this application decompose an inspection task to obtain multiple inspection targets; generate a first inspection path for the target drone based on the position information of the multiple inspection targets; where the first inspection path includes inspection points corresponding to the multiple inspection targets respectively; calculate the offset angle between a first connection line formed between the current position of the target drone and the Nth inspection point and a second connection line formed between the (N - 1)th inspection point and the Nth inspection point; where the current position of the target drone is located between the (N - 1)th inspection point and the Nth inspection point, and N is an integer greater than 1; if the offset angle is greater than a preset angle threshold, calculate the spatial distance between the current position of the target drone and the Nth inspection point; if the spatial distance is less than a preset distance threshold, construct a second inspection path for the target drone based on the current position of the target drone and the (N + 1)th inspection point; determine the flight attitude of the target drone based on the second inspection path and the position of the inspection target corresponding to the Nth inspection point; determine inspection targets by decomposing the inspection task, generate a first inspection path according to the position information of the inspection targets, and in the actual inspection process, calculate the deviation degree of the target drone from the first inspection path in real time. If the deviation is large, calculate the distance between the target drone and the Nth inspection point. If the distance is small, reconstruct the second inspection path of the target drone with the (N + 1)th inspection point as the target to control the position of the target drone and the inspection point to ensure the inspection effect; and determine the flight attitude of the target drone according to the position of the Nth inspection point to ensure the shooting angle of the Nth inspection point, thereby improving the shooting effect and then improving the inspection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other objects, features, and advantages of the present application will become more obvious. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 It is a flowchart of a control method for an indoor inspection drone provided by an exemplary embodiment of the present application.

[0017] Figure 2 It is a structural diagram of a control device for an indoor inspection drone provided by an exemplary embodiment of the present application.

[0018] Figure 3 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] Next, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described herein.

[0020] Figure 1 is a schematic flowchart of a control method for an indoor inspection unmanned aerial vehicle provided by an exemplary embodiment of the present application. As Figure 1 shown, the control method for the indoor inspection unmanned aerial vehicle includes the following steps:

[0021] Step 110: Decompose the inspection task to obtain multiple inspection targets.

[0022] After the unmanned aerial vehicle of the present application receives the inspection task, the inspection task is decomposed to obtain the devices to be inspected, thereby determining the inspection targets.

[0023] Step 120: Generate a first inspection path of the target unmanned aerial vehicle based on the position information of the multiple inspection targets.

[0024] Among them, the first inspection path includes inspection points corresponding to multiple inspection targets respectively. The target unmanned aerial vehicle (UAV) is equipped with a high-resolution camera to achieve visual inspection and data monitoring of the power distribution room equipment, and a lidar sensor is installed to obtain three-dimensional information of the surrounding environment in real time, providing data support for modeling and positioning. Before the target UAV enters the power distribution room for the first inspection, it scans the entire power distribution room space through the lidar to obtain the point cloud data of the environment. The lidar emits laser beams at a certain angular resolution and scanning frequency, measures the time from the emission to the reflection of the laser beam, and thus calculates the distance information from the surrounding objects to form three-dimensional point cloud data. The collected point cloud data is transmitted to the on-board computer terminal and processed using professional point cloud processing software. First, data filtering is performed to remove noise points and abnormal points. Then, the data obtained from multiple scans is stitched together through a point cloud registration algorithm to obtain a complete three-dimensional model of the power distribution room. Feature extraction and semantic segmentation are performed on the three-dimensional model to identify various objects such as equipment, walls, and channels in the power distribution room, and corresponding labels and attribute information are assigned to them. For example, parameters such as the position, shape, and size of equipment such as transformers, switch cabinets, and cable trays are determined for subsequent positioning and navigation. After the present application pre-scans to determine parameters such as the labels (categories or names), positions, shapes, and sizes of each device in the power distribution room, during subsequent inspection processes, after determining the inspection targets by decomposing the inspection tasks, based on the position information of multiple inspection targets, an optimal inspection path (i.e., the first inspection path) for the target UAV to complete the inspection tasks of all inspection targets is generated. Among them, the first inspection path includes the position information of multiple inspection points corresponding to the inspection targets, as well as the detection actions and parameters at each inspection point, such as the shooting angle and shooting time interval of the camera; at the same time, the flight speed and altitude of the UAV in different areas can also be determined to adapt to different inspection environments and task requirements. During the inspection flight of the target UAV, the lidar scans the surrounding environment in real time and matches the currently obtained point cloud data with the established three-dimensional model to determine the current position of the target UAV.

[0025] Step 130: Calculate the offset angle between the first connection line formed between the current position of the target UAV and the Nth inspection point and the second connection line formed between the (N - 1)th inspection point and the Nth inspection point.

[0026] Among them, the current position of the target UAV is between the (N - 1)-th inspection point and the N-th inspection point, where N is an integer greater than 1. During the inspection process of the target UAV, due to factors such as control accuracy or electromagnetic interference in the distribution room, or to avoid other UAVs, the flight of the UAV may deviate from the first inspection path. At this time, it is necessary to generate a new inspection path based on the current position of the target UAV. In this application, the deviation angle between the first connection line formed by the current position of the target UAV and the N-th inspection point and the second connection line formed by the (N - 1)-th inspection point and the N-th inspection point is calculated to determine the degree to which the target UAV deviates from the first inspection path.

[0027] Step 140: If the deviation angle is greater than a preset angle threshold, calculate the spatial distance between the current position of the target UAV and the N-th inspection point.

[0028] If the deviation angle is greater than the preset angle threshold, it indicates that the current position of the target UAV deviates far from the first inspection path. At this time, the spatial distance between the current position of the target UAV and the N-th inspection point (corresponding to the inspection point corresponding to the upcoming inspection target) is calculated to determine the deviation distance between the target UAV and the next inspection point.

[0029] Step 150: If the spatial distance is less than a preset distance threshold, construct the second inspection path of the target UAV based on the current position of the target UAV and the (N + 1)-th inspection point.

[0030] When the target UAV flies to a circle centered at the Nth inspection point with a distance threshold as the radius and the line connecting the target UAV and the (N - 1)th inspection point forms a tangent to the circle, the above-mentioned offset angle is the largest. If the deviation distance between the target UAV and the Nth inspection point is small but the deviation angle between the target UAV and the first inspection path is large, it means that the target UAV is about to fly over the Nth inspection point on the current path. At this time, if the target UAV is controlled to fly with the Nth inspection point as the target point, not only does it need to make a large-angle adjustment to the current flight direction of the target UAV, but it is also very likely that the target UAV needs to decelerate to zero and then adjust the flight direction, thus affecting the inspection efficiency. Therefore, in this application, the target UAV is directly controlled to construct a second inspection path with the (N + 1)th inspection point as the target, that is, skip the Nth inspection point, and utilize the advantage that the spatial distance between the target UAV and the Nth inspection point is relatively close to collect relevant information (including image information, etc.) of the inspection target corresponding to the Nth inspection point during the process of the target UAV flying to the (N + 1)th inspection point. It should be understood that if the spatial distance is greater than or equal to the distance threshold, it means that the distance between the target UAV and the Nth inspection point is still far at this time. At this time, the current flight direction of the target UAV can be slightly adjusted to achieve fine-tuning of the navigation path of the target UAV to reach the Nth inspection point, that is, construct a second inspection path of the target UAV based on the current position of the target UAV and the Nth inspection point, and realize the inspection work of the inspection target corresponding to the Nth inspection point without affecting the inspection efficiency.

[0031] Step 160: Determine the flight attitude of the target UAV based on the second inspection path and the position of the inspection target corresponding to the Nth inspection point.

[0032] According to the current position of the target UAV and the position of the (N + 1)th inspection point, use the flight control algorithm to calculate control instructions such as the flight attitude, speed, and acceleration that the target UAV needs to execute. The control instructions are sent to the flight control computer of the target UAV through a wireless communication link. The flight control computer drives the motor according to the received instructions to control the flight attitude and motion trajectory of the target UAV, so that it performs inspection operations according to the predetermined path and actions.

[0033] During the inspection process, the target UAV collects image data of the power distribution room equipment through sensors such as cameras and stores this data in a local storage device. At the same time, the flight control computer of the target UAV also records various status information during the flight, such as position, attitude, speed, battery power and other data for subsequent analysis and processing. The target UAV and the ground control system achieve automatic data transmission through a wireless communication link, and adopt high-speed and stable wireless communication technologies such as Wi-Fi to ensure that the data can be transmitted to the ground control system in a timely and accurate manner. During the data transmission process, data compression and encryption technologies are used to improve the data transmission efficiency and ensure the security and integrity of the data. After receiving the data transmitted back by the target UAV, the ground control system decompresses and decrypts the data. At the same time, the ground control system can also perform real-time analysis and processing on the data, such as performing intelligent recognition on the images of the equipment to determine whether there are abnormalities in the equipment; performing trend analysis on the temperature data to warn of overheating faults of the equipment, etc., and presenting the analysis results to the operators in an intuitive manner.

[0034] A control method for an indoor inspection UAV provided in this application decomposes the inspection task to obtain multiple inspection targets; based on the position information of the multiple inspection targets, generates the first inspection path of the target UAV; wherein, the first inspection path includes inspection points corresponding to the multiple inspection targets respectively; calculates the offset angle between the first connection line formed between the current position of the target UAV and the Nth inspection point and the second connection line formed between the (N - 1)th inspection point and the Nth inspection point; wherein, the current position of the target UAV is located between the (N - 1)th inspection point and the Nth inspection point, and N is an integer greater than 1; if the offset angle is greater than a preset angle threshold, then calculates the spatial distance between the current position of the target UAV and the Nth inspection point; if the spatial distance is less than a preset distance threshold, then constructs the second inspection path of the target UAV based on the current position of the target UAV and the (N + 1)th inspection point; determines the flight attitude of the target UAV based on the second inspection path and the position of the inspection target corresponding to the Nth inspection point; determines the inspection targets by decomposing the inspection task, generates the first inspection path according to the position information of the inspection targets, and in the actual inspection process, calculates the deviation degree of the target UAV from the first inspection path in real time. If the deviation is large, calculates the distance between the target UAV and the Nth inspection point. If this distance is small, reconstructs the second inspection path of the target UAV with the (N + 1)th inspection point as the target to control the position between the target UAV and the inspection point and ensure the inspection effect; and determines the flight attitude of the target UAV according to the position of the Nth inspection point to ensure the shooting angle of the Nth inspection point, thereby improving the shooting effect and then improving the inspection effect.

[0035] In one embodiment, the specific implementation of the above step 110 may be: obtaining the position information of all inspection objects in the inspection area; determining the inspection objects corresponding to the inspection task based on the inspection task; and determining the position information of multiple inspection targets based on the feature information of the inspection objects corresponding to the inspection task.

[0036] In this application, the inspection task is decomposed to obtain inspection objects, and the position information of the inspection targets is determined by combining the position information of all inspection objects in the pre-obtained inspection area.

[0037] In one embodiment, the specific implementation of the above step 120 may be: determining the inspection points corresponding to multiple inspection targets based on the position information of the multiple inspection targets and the shooting distance of the target UAV; and generating the first inspection path of the target UAV based on the multiple inspection points.

[0038] After determining the position information of multiple inspection targets in this application, the inspection points corresponding to the multiple inspection targets (i.e., the optimal position points for shooting the inspection targets) are determined based on the position information of the multiple inspection targets and the shooting distance of the target UAV, and the first inspection path of the target UAV is generated based on the multiple inspection points.

[0039] In one embodiment, the specific implementation of the above step 150 may be: constructing a second inspection path connecting the current position of the target UAV and the (N + 1)-th inspection point with the position of the inspection target corresponding to the N-th inspection point as the center; the specific implementation of the above step 160 may be: determining the shooting angle of the camera of the target UAV with the inspection target corresponding to the N-th inspection point as the shooting target.

[0040] In this application, an arc or circular path is constructed with the position of the inspection target corresponding to the N-th inspection point as the center and the distance between the center and the position of the (N + 1)-th inspection point as the radius. If the target UAV is on the arc or circular path, the arc or circular path is used as the second inspection path to control the target UAV to fly to the (N + 1)-th inspection point. If the target UAV is not on the arc or circular path, the target UAV is controlled to fly along the radius of the arc or circular path to the arc or circular path, and then the arc or circular path is used as the second inspection path. And with the inspection target corresponding to the N-th inspection point as the shooting target, the shooting angle of the camera of the target UAV is determined, that is, the target UAV adjusts the shooting angle of its camera to face the inspection target corresponding to the N-th inspection point during the flight to the (N + 1)-th inspection point to achieve shooting of the inspection target corresponding to the N-th inspection point.

[0041] In one embodiment, the control method of the indoor inspection drone may further include: obtaining the inspection paths of other drones; if there is an overlapping path between the inspection path of other drones and the first inspection path of the target drone, calculating the first time when the target drone enters the overlapping path and the second time when the other drone enters the overlapping path; if the time difference between the first time and the second time is less than a preset time threshold, adjusting the first inspection path to obtain a third inspection path.

[0042] When there are other drones, the present application can also obtain the inspection paths of other drones. If there is an overlapping path between the inspection path of other drones and the first inspection path of the target drone, calculate the first time when the target drone enters the overlapping path and the second time when the other drone enters the overlapping path. If the time difference between the first time and the second time is less than a preset time threshold, it means that the target drone and other drones will enter the overlapping path at the same time period. To avoid safety accidents such as mutual interference or collision, the present application adjusts the first inspection path of the target drone to obtain a third inspection path to avoid entering the overlapping path at the same time period.

[0043] In one embodiment, the specific determination method of the third inspection path may be: obtaining the inspection target corresponding to the overlapping path; adjusting the inspection target corresponding to the overlapping path to the start inspection target or the end inspection target of the inspection path of the target drone to obtain a third inspection path.

[0044] Specifically, the present application determines the inspection target corresponding to the overlapping path and adjusts the inspection target corresponding to the overlapping path to the start inspection target or the end inspection target of the inspection path of the target drone, that is, adjusts the inspection order of the inspection target corresponding to the overlapping path to the start or the end to change the inspection order of the target drone, thereby constructing a new inspection path and avoiding entering the overlapping path at the same time period. And after constructing the new inspection path, calculate again whether there is an overlapping path between the new inspection path and the inspection paths of other drones and whether they will enter the overlapping path at the same time when there is an overlapping path. If there is an overlapping path and they will enter at the same time period, adjust the path again until there is no overlapping path between the inspection path of the target drone and the inspection paths of other drones or they will not enter the overlapping path at the same time period.

[0045] In one embodiment, the control method of the indoor inspection drone may further include: monitoring the remaining power of the target drone; calculating the power demand of the target drone based on the first inspection path of the target drone; if the difference between the remaining power and the power demand is less than a preset power threshold, controlling the target drone to return to the charging position of the drone nest.

[0046] During the inspection process of the target UAV, the remaining power of the target UAV is monitored in real time, and based on the first inspection path of the target UAV, the power demand of the target UAV is calculated. If the difference between the remaining power and the power demand is less than the preset power threshold (if the remaining power is less than the power demand, the inspection work is not performed and the target UAV is controlled to charge), the target UAV is controlled to return to the charging position of the nest.

[0047] The nest, as the docking and charging platform of the UAV, has an automatic charging function. The nest adopts electromagnetic induction wireless charging technology. When the UAV lands at the designated position of the nest, the nest automatically senses and starts the charging program to ensure that the UAV can quickly replenish energy during the task interval and achieve long-term uninterrupted inspection. An emitting coil is installed on the charging platform of the nest, and a receiving coil is installed at the bottom of the UAV. When the UAV lands at the charging position of the nest, the electric energy is transmitted through magnetic field coupling between the emitting coil and the receiving coil. The emitting coil at the transmitting end converts the mains power into high-frequency alternating current through a power electronic conversion circuit and loads it onto the emitting coil to generate an alternating magnetic field. The receiving coil induces an electromotive force in the alternating magnetic field, and after being processed by circuits such as rectification, filtering, and voltage regulation, it charges the battery of the UAV. Both the nest and the UAV are equipped with a charging management system. When the UAV lands on the nest, the charging management system of the nest first detects the battery state of the UAV, including parameters such as battery power, voltage, and temperature. According to the detection results, the charging power and charging current are automatically adjusted to ensure the safety and efficiency of the charging process. During the charging process, the charging state of the battery is monitored in real time. When the battery is fully charged or abnormal conditions occur (such as overvoltage, overcurrent, overheating, etc.), the charging is stopped in time, and the charging state information is sent to the ground control system. At the same time, the charging management system on the UAV battery also has a battery equalization function, which can equalize the charging of multiple batteries and extend the service life of the battery.

[0048] Figure 2 It is a schematic structural diagram of the control device of the indoor inspection UAV provided by an exemplary embodiment of the present application. As Figure 2As shown in the figure, the control device 20 of the indoor inspection drone includes: an inspection target decomposition module 21 for decomposing an inspection task to obtain multiple inspection targets; a first path generation module 22 for generating a first inspection path of the target drone based on the position information of the multiple inspection targets; wherein, the first inspection path includes inspection points corresponding to the multiple inspection targets respectively; an offset angle calculation module 23 for calculating an offset angle between a first connection line formed between the current position of the target drone and the Nth inspection point and a second connection line formed between the (N - 1)th inspection point and the Nth inspection point; wherein, the current position of the target drone is located between the (N - 1)th inspection point and the Nth inspection point, and N is an integer greater than 1; a spatial distance calculation module 24 for calculating the spatial distance between the current position of the target drone and the Nth inspection point if the offset angle is greater than a preset angle threshold; a second path construction module 25 for constructing a second inspection path of the target drone based on the current position of the target drone and the (N + 1)th inspection point if the spatial distance is less than a preset distance threshold; a flight attitude determination module 26 for determining the flight attitude of the target drone based on the second inspection path and the position of the inspection target corresponding to the Nth inspection point.

[0049] A control device for an indoor inspection drone provided by this application decomposes the inspection task through an inspection target decomposition module 21 to obtain multiple inspection targets; a first path generation module 22 generates a first inspection path of the target drone based on the position information of the multiple inspection targets; wherein, the first inspection path includes inspection points corresponding to the multiple inspection targets respectively; an offset angle calculation module 23 calculates an offset angle between a first connection line formed between the current position of the target drone and the Nth inspection point and a second connection line formed between the (N - 1)th inspection point and the Nth inspection point; wherein, the current position of the target drone is located between the (N - 1)th inspection point and the Nth inspection point, and N is an integer greater than 1; if the offset angle is greater than a preset angle threshold, a spatial distance calculation module 24 calculates the spatial distance between the current position of the target drone and the Nth inspection point; if the spatial distance is less than a preset distance threshold, a second path construction module 25 constructs a second inspection path of the target drone based on the current position of the target drone and the (N + 1)th inspection point; a flight attitude determination module 26 determines the flight attitude of the target drone based on the second inspection path and the position of the inspection target corresponding to the Nth inspection point; by decomposing the inspection task to determine the inspection targets, generating the first inspection path according to the position information of the inspection targets, and in the actual inspection process, calculating the deviation degree of the target drone from the first inspection path in real time, if the deviation is large, calculating the distance between the target drone and the Nth inspection point, and if the distance is small, reconstructing the second inspection path of the target drone with the (N + 1)th inspection point as the target to control the position between the target drone and the inspection point to ensure the inspection effect; and determining the flight attitude of the target drone according to the position of the Nth inspection point to ensure the shooting angle of the Nth inspection point, thereby improving the shooting effect and then improving the inspection effect.

[0050] In one embodiment, the above-mentioned inspection target decomposition module 21 can be further configured to: obtain the position information of all inspection objects in the inspection area; determine the inspection objects corresponding to the inspection task based on the inspection task; determine the position information of multiple inspection targets based on the characteristic information of the inspection objects corresponding to the inspection task.

[0051] In one embodiment, the above-mentioned first path generation module 22 can be further configured to: determine the inspection points corresponding to the multiple inspection targets based on the position information of the multiple inspection targets and the shooting distance of the target drone; generate the first inspection path of the target drone based on the multiple inspection points.

[0052] In one embodiment, the above-mentioned second path construction module 25 may be further configured to: take the position of the inspection target corresponding to the Nth inspection point as the center of a circle, and construct a second inspection path connecting the current position of the target UAV and the (N + 1)th inspection point; the above-mentioned flight attitude determination module 26 may be further configured to: take the inspection target corresponding to the Nth inspection point as the shooting target, and determine the shooting angle of the camera of the target UAV.

[0053] In one embodiment, the control device 20 of the above-mentioned indoor inspection UAV may be further configured to: obtain the inspection paths of other UAVs; if there is an overlapping path between the inspection path of other UAVs and the first inspection path of the target UAV, calculate the first time when the target UAV enters the overlapping path and the second time when other UAVs enter the overlapping path; if the time difference between the first time and the second time is less than a preset time threshold, adjust the first inspection path to obtain a third inspection path.

[0054] In one embodiment, the control device 20 of the above-mentioned indoor inspection UAV may be further configured to: obtain the inspection target corresponding to the overlapping path; adjust the inspection target corresponding to the overlapping path to the start inspection target or the end inspection target of the inspection path of the target UAV to obtain a third inspection path.

[0055] In one embodiment, the control device 20 of the above-mentioned indoor inspection UAV may be further configured to: monitor the remaining power of the target UAV; calculate the power demand of the target UAV based on the first inspection path of the target UAV; if the difference between the remaining power and the power demand is less than a preset power threshold, control the target UAV to return to the charging position of the nest.

[0056] Next, refer to Figure 3 to describe the electronic device according to an embodiment of the present application. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the input signals collected from them.

[0057] Figure 3 The block diagram of the electronic device according to an embodiment of the present application is illustrated.

[0058] As Figure 3 shown, the electronic device 10 includes one or more processors 11 and a memory 12.

[0059] The processor 11 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 10 to perform desired functions.

[0060] The memory 12 may include one or more computer program products, and the computer program products 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, etc. 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 media, and the processor 11 may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage media.

[0061] In one example, the electronic device 10 may further include: an input device 13 and an output device 14, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0062] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector for receiving the collected input signals from the first device and the second device.

[0063] In addition, the input device 13 may further include, for example, a keyboard, a mouse, and so on.

[0064] The output device 14 may output various information to the outside, including the determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, and so on.

[0065] Of course, for simplicity, Figure 3 only some of the components related to the present application in the electronic device 10 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 10 may further include any other appropriate components.

[0066] In addition to the above methods and devices, the embodiments of the present application may also be computer program products, which include computer program instructions that, when run by a processor, cause the processor to execute the steps in the methods according to the various embodiments of the present application described in the "Exemplary Methods" section above of this specification.

[0067] The computer program product may be written in any combination of one or more programming languages for executing the program code of the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0068] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are run by a processor, the processor is caused to execute the steps in the methods according to various embodiments of the present application described in the "Exemplary Method" section above of this specification.

[0069] The computer-readable storage medium may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0070] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for illustrative and facilitating understanding purposes, and not for limitation. The above details do not limit the present application to necessarily implement using the above specific details.

[0071] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The words "or" and "and" used herein refer to the phrase "and / or", and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with it.

[0072] It should also be noted that in the devices, equipment, and methods of this application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this application.

[0073] 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 are very obvious 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 the broadest scope consistent with the principles and novel features disclosed herein.

[0074] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A control method for an indoor inspection drone, characterized in that: include: Decompose inspection tasks to obtain multiple inspection targets; Based on the location information of the multiple inspection targets, a first inspection path of the target UAV is generated; wherein the first inspection path includes inspection points corresponding to the multiple inspection targets respectively; Calculate the offset angle between a first line formed between the current position of the target drone and the Nth inspection point and a second line formed between the N-1th inspection point and the Nth inspection point; wherein the current position of the target drone is between the N-1th inspection point and the Nth inspection point, and N is an integer greater than 1; If the offset angle is greater than a preset angle threshold, the spatial distance between the current position of the target UAV and the Nth inspection point is calculated; If the spatial distance is less than a preset distance threshold, constructing a second inspection path of the target UAV based on the current position of the target UAV and the N+1th inspection point; Determine the flight posture of the target UAV based on the second inspection path and the position of the inspection target corresponding to the Nth inspection point; The step of constructing a second inspection path of the target drone based on the current position of the target drone and the N+1th inspection point includes: An arc or a circular path is constructed with the position of the inspection target corresponding to the Nth inspection point as the center of the circle and the distance between the center of the circle and the position of the N+1th inspection point as the radius. If the target UAV is on the arc or the circular path, the arc or the circular path is used as the second inspection path. If the target UAV is not on the arc or the circular path, the target UAV is controlled to fly along the radius of the arc or the circular path until it is on the arc or the circular path, and the arc or the circular path is used as the second inspection path. The determining the flight posture of the target UAV based on the second inspection path and the position of the inspection target corresponding to the Nth inspection point includes: Taking the inspection target corresponding to the Nth inspection point as the shooting target, the shooting angle of the camera of the target UAV is determined to achieve shooting of the inspection target corresponding to the Nth inspection point.

2. The control method of the indoor inspection drone according to claim 1, characterized in that: Decomposing the inspection task to obtain multiple inspection targets includes: Obtain the location information of all inspection objects in the inspection area; Based on the inspection task, determining the inspection object corresponding to the inspection task; The location information of the plurality of inspection targets is determined based on the feature information of the inspection objects corresponding to the inspection tasks.

3. The control method of the indoor inspection drone according to claim 1, characterized in that: The generating a first inspection path of the target UAV based on the location information of the plurality of inspection targets includes: Determine inspection points corresponding to the multiple inspection targets based on the location information of the multiple inspection targets and the shooting distance of the target drone; Based on the multiple inspection points, a first inspection path of the target UAV is generated.

4. The control method of the indoor inspection drone according to claim 1, characterized in that: The control method of the indoor inspection drone also includes: Get the inspection paths of other drones; If the inspection paths of the other UAVs overlap with the first inspection path of the target UAV, calculate the first time when the target UAV enters the overlapping path and the second time when the other UAVs enter the overlapping path; If the time difference between the first time and the second time is less than a preset time threshold, the first inspection path is adjusted to obtain a third inspection path.

5. The control method of the indoor inspection drone according to claim 4, characterized in that: The adjusting the first inspection path to obtain a third inspection path includes: Obtaining the inspection target corresponding to the overlapping path; The inspection target corresponding to the overlapping path is adjusted to the starting inspection target or the terminal inspection target of the inspection path of the target UAV to obtain the third inspection path.

6. The control method of the indoor inspection drone according to claim 1, characterized in that: The control method of the indoor inspection drone also includes: Monitoring the remaining battery power of the target UAV; Based on the first inspection path of the target UAV, calculate the power demand of the target UAV; If the difference between the remaining power and the power requirement is less than a preset power threshold, the target UAV is controlled to return to the charging position of the nest.

7. A control device for an indoor inspection drone, characterized in that: include: Inspection target decomposition module, used to decompose inspection tasks and obtain multiple inspection targets; A first path generation module, configured to generate a first inspection path of the target UAV based on the location information of the plurality of inspection targets; wherein the first inspection path includes inspection points corresponding to the plurality of inspection targets respectively; An offset angle calculation module is used to calculate an offset angle between a first line formed between the current position of the target drone and the Nth inspection point and a second line formed between the N-1th inspection point and the Nth inspection point; wherein the current position of the target drone is between the N-1th inspection point and the Nth inspection point, and N is an integer greater than 1; A spatial distance calculation module, configured to calculate the spatial distance between the current position of the target UAV and the Nth inspection point if the offset angle is greater than a preset angle threshold; A second path construction module, configured to construct a second inspection path for the target UAV based on the current position of the target UAV and the N+1th inspection point if the spatial distance is less than a preset distance threshold; A flight attitude determination module, used to determine the flight attitude of the target UAV based on the second inspection path and the position of the inspection target corresponding to the Nth inspection point; The second path construction module is further configured as follows: An arc or a circular path is constructed with the position of the inspection target corresponding to the Nth inspection point as the center of the circle and the distance between the center of the circle and the position of the N+1th inspection point as the radius. If the target UAV is on the arc or the circular path, the arc or the circular path is used as the second inspection path. If the target UAV is not on the arc or the circular path, the target UAV is controlled to fly along the radius of the arc or the circular path until it is on the arc or the circular path, and the arc or the circular path is used as the second inspection path. The flight attitude determination module is further configured as follows: Taking the inspection target corresponding to the Nth inspection point as the shooting target, the shooting angle of the camera of the target UAV is determined to achieve shooting of the inspection target corresponding to the Nth inspection point.

8. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 6.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the method described in any one of claims 1 to 6.

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