Unmanned aerial vehicle itinerant control system and method

Abstract

The invention provides an unmanned aerial vehicle itinerant control system and method, and relates to the technical field of warehouse management, and the method can determine the position of each information label based on a current cargo image more conveniently through setting a photoluminescence region, thereby determining a shooting point location, and further reducing the difficulty of unmanned aerial vehicle itinerant inspection. A photoluminescence area and a filter lens segment are arranged on an information label of a cargo, and the hovering height and the camera angle of the unmanned aerial vehicle are adjusted through the brightness of the filter lens segment at different angles under irradiation of a laser light source, so that effective cargo information can be extracted based on a to-be-identified image acquired by the camera of the unmanned aerial vehicle; the collection difficulty can be reduced, the hovering time of the unmanned aerial vehicle is shortened, and the problem of insufficient cruising ability of the unmanned aerial vehicle is solved.

Description

Technical Field

[0001] The present application relates to the field of warehouse management technology, and in particular to an unmanned aerial vehicle patrol control system and method. Background Art

[0002] Warehouse cargo management can use drones to inspect goods in logistics warehouses, realize unmanned warehouse management, improve inspection efficiency and reduce inspection costs.

[0003] The drone patrol control method of the related technology is based on the combination of drone, barcode and RFID technology, which can reduce a certain amount of workload during patrol and inventory, improve the efficiency of automated storage management of items and the reliability and credibility of inventory data. However, in the actual operation and management process, since the information tags on the goods are not on the same plane and have different inclination angles with the horizontal plane, if the angle between the camera view direction on the drone and the direction of the information tag is too large, it increases the difficulty of collection and easily causes the drone to hover in front of a cargo for a long time, which in turn causes the drone's endurance to be reduced and unable to complete the cargo inventory task. Summary of the invention

[0004] The present application provides a drone patrol control system and method, which can reduce the difficulty of collecting goods when the drone conducts cargo inspection and improve the drone's endurance.

[0005] The present application provides a method for controlling a drone patrol, comprising: Acquire a current cargo image taken by a drone hovering at a starting point of a current collection area; the drone passes through multiple collection areas while inspecting along a preset patrol route, the current collection area includes a shelf and at least one cargo placed on the shelf, an information tag is set on the cargo, and the information tag faces outside the shelf, an annular photoluminescent area is set around the information tag, and a filter segment is set in any section of the photoluminescent area, a laser light source and a camera module are set on the drone, and under the irradiation of the laser light source, the photoluminescent area is displayed as a bright area in the current cargo image; Based on the position of the photoluminescent area on the information tag of each cargo in the current cargo image, multiple shooting points of the drone in the current collection area are determined, and the shooting points correspond to the information tags one by one; Obtain the images to be identified taken by the drone at each shooting point; Based on the brightness ratio of the filter segment and the photoluminescent area in the image to be identified, the target hovering height and the target camera angle of the UAV are determined, and the target hovering height and the target camera angle are sent to the UAV, so that the UAV obtains the image to be processed including the information tag based on the target hovering height and the target camera angle.

[0006] Optionally, determining a target hovering height and a target camera angle of the drone based on a brightness ratio of a filter segment and a photoluminescent region in the image to be identified includes: If the brightness ratio of the filter segment and the photoluminescent area in the image to be identified is greater than or equal to a preset threshold, identifying the information tag based on the image to be identified; If the brightness ratio of the filter segment and the photoluminescent area in the image to be identified is less than a preset threshold, the target hovering height and the target camera angle are determined based on a mapping relationship among the preset brightness ratio, the hovering height and the camera angle.

[0007] Optionally, the laser light source is an ultraviolet light source.

[0008] Optionally, the method further comprises: Determine the separation distance between the information tag and the drone camera; The target frequency and target power of the laser light source are determined according to the separation distance.

[0009] Optionally, determining a target frequency and a target power of the laser light source according to the separation distance includes: The target frequency and the target power are determined according to the mapping relationship between the interval distance and the preset interval distance, frequency and power.

[0010] Optionally, based on the position of the photoluminescent area on the information label of each cargo in the current cargo image, multiple shooting points of the drone in the current collection area are determined, including: Compare the current cargo image with the cargo image at the previous moment to determine whether there is any change in the cargo in the current acquisition area; If there is a change in the goods, the shooting point is determined based on the position of the photoluminescent area on the information label of each of the goods in the current goods image and the position of the photoluminescent area of ​​each of the goods; If there is no change in the goods, based on the position of the photoluminescent area on the information label of each goods in the current goods image, a preset number of target photoluminescent areas are randomly selected from the photoluminescent areas of all the goods, and the shooting point is determined based on the position of each target photoluminescent area.

[0011] Optionally, the method further comprises: Obtain the quantity of goods in the current collection area; determining a number of photoluminescent regions based on the current cargo image; If the quantity of goods and the quantity of photoluminescent areas are inconsistent, a prompt message is generated.

[0012] To achieve the above objectives and other related objectives, the present application provides a drone patrol control system, including: The first data acquisition module is used to acquire the current cargo image taken by the drone hovering at the starting point of the current acquisition area; the drone passes through multiple acquisition areas when inspecting along the preset patrol path, the current acquisition area includes a shelf and at least one cargo placed on the shelf, the information tag is set on the cargo, and the information tag faces outside the shelf, an annular photoluminescent area is set around the information tag, and any section of the photoluminescent area is set with a filter segment, the drone is provided with a laser light source and a camera module, and under the irradiation of the laser light source, the photoluminescent area is displayed as a bright area in the current cargo image; The first processing module is used to determine multiple shooting points of the drone in the current collection area based on the position of the photoluminescent area on the information tag of each cargo in the current cargo image, and the shooting points correspond to the information tags one by one; The second data acquisition module is used to acquire the images to be identified taken by the drone at each shooting point; The second processing module is used to determine the target hovering height and target camera angle of the UAV based on the brightness ratio of the filter segment and the photoluminescent area in the image to be identified, and send the target hovering height and target camera angle to the UAV, so that the UAV obtains the image to be processed including the information tag based on the target hovering height and the target camera angle.

[0013] Optionally, the second processing module further includes: A first determination unit, configured to perform information tag recognition based on the image to be recognized if a brightness ratio of the filter segment and the photoluminescent area in the image to be recognized is greater than or equal to a preset threshold; The processing unit is used to determine the target hovering height and the target camera angle based on the mapping relationship among the preset brightness ratio, the hovering height and the camera angle if the brightness ratio between the filter segment and the photoluminescent area in the image to be identified is less than a preset threshold.

[0014] Optionally, the laser light source is an ultraviolet light source.

[0015] As described above, the UAV patrol control system and method provided by the present application have the following beneficial effects: A method for controlling a drone patrol in the present application can more conveniently determine the position of each information tag based on the current cargo image by setting a photoluminescent area, and then determine the shooting point, further reducing the difficulty of drone patrol. A photoluminescent area and a filter segment are set on the cargo information tag, and the brightness of the filter segment at different angles under the irradiation of a laser light source is adjusted to adjust the hovering height and camera angle of the drone to ensure that effective cargo information can be extracted based on the image to be identified obtained by the drone camera, which can reduce the difficulty of collection, reduce the hovering time of the drone, and thus solve the problem of insufficient drone endurance.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings: Figure 1 is a schematic diagram of an information label shown in an exemplary embodiment of the present application; Figure 2 is a schematic structural diagram of a drone shown in an exemplary embodiment of the present application; Figure 3 is a flow chart of a drone patrol control method shown in an exemplary embodiment of the present application; Figure 4 is a schematic diagram of a drone inspection shown in an exemplary embodiment of the present application; Figure 5 is a schematic diagram of an information tag and a drone before adjustment shown in an exemplary embodiment of the present application; Figure 6 is a schematic diagram of an adjusted information tag and a drone shown in an exemplary embodiment of the present application; Figure 7 It is a structural block diagram of a drone patrol control system shown as an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0018] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0019] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0020] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0021] See also Figure 1 , which is a schematic diagram of an information label shown as an exemplary embodiment of the present application.

[0022] The information label may include the type of goods, the place of shipment and other goods information. The information label may be provided with a photoluminescent area 110 around it. A filter segment 120 is provided in any section of the photoluminescent area. The photoluminescent area 110 may include an upper section, a right section, a lower section and a left section in a clockwise direction from the top. Figure 1 The middle filter segment 120 is disposed at the upper stage.

[0023] See also Figure 2 , which is a schematic diagram of the structure of a drone shown in an exemplary embodiment of the present application. The drone may be provided with a laser light source 210 and a camera 220.

[0024] A laser light source is arranged on the drone, and an annular photoluminescent area is arranged around the information tag. The material of the photoluminescent area can be zinc sulfide, and a portion of the zinc sulfide is covered with a filter segment. During the drone inspection process, the laser light source 210 emits excitation light, and the camera 220 on the drone captures the excitation effect of the zinc sulfide on the information tag, so as to confirm the position of the information tag. Then, based on the difference in excitation effect between the filter segment and the uncovered filter segment, it is determined whether the framing direction of the camera 220 corresponds to the orientation of the information tag, so as to adjust the framing direction of the camera 220, thereby shortening the information tag collection time, improving statistical efficiency, and improving the energy efficiency of the drone.

[0025] It should be noted that a driving component may be provided on the drone to adjust the camera angle.

[0026] See also Figure 3 , Figure 3 is a flow chart of a drone patrol control method shown in an exemplary embodiment of the present application. Figure 3 It can be seen that the UAV patrol control method may include: Step S310, obtaining the current cargo image taken by the drone hovering at the starting point of the current collection area.

[0027] Among them, the drone passes through multiple collection areas when inspecting along a preset patrol path. The current collection area includes a shelf and at least one cargo placed on the shelf. The information tag is set on the cargo, and the information tag faces outside the shelf. An annular photoluminescent area is set around the information tag, and a filter segment is set in any section of the photoluminescent area. The drone is equipped with a laser light source and a camera module. Under the irradiation of the laser light source, the photoluminescent area is displayed as a bright area in the current cargo image.

[0028] In one embodiment of the present application, when the drone hovers at the starting point, the drone can obtain the current cargo image including all cargo in the current collection area. The shelves in the logistics warehouse can be divided into multiple collection areas, each of which can include at least one shelf. The actual point can be located on the left or right side of the collection area. When the drone hovers at the starting point, all cargo in the collection area is in the drone's field of view.

[0029] The cloud can obtain the current cargo image uploaded by the drone and perform subsequent image recognition and other steps based on the current cargo image.

[0030] Optionally, the laser light source may be an ultraviolet light source or an infrared light source, or may be other light sources, which are not limited in the embodiments of the present application. Exemplarily, the laser light source may be an ultraviolet light source.

[0031] Step S320, based on the position of the photoluminescent area on the information label of each cargo in the current cargo image, determine multiple shooting points of the drone in the current collection area.

[0032] Among them, the shooting points correspond to the information tags one by one.

[0033] In one embodiment of the present application, the cloud can determine multiple shooting points of the drone in the current collection area based on the position of the photoluminescent area on the information label of each product in the current product image. Since the laser light source is turned on when the drone collects the current product image, the photoluminescent area on each information label can be excited by the laser light source, and the brightness of the photoluminescent area is different from other areas in the current product image. The cloud can perform image recognition on the current product image based on the identification label point in the current product image (for example, the bottom of the shelf, the top of the shelf, or other identification label points), the preset shelf size information, the preset distance between the identification label point and the ground, and the preset coordinate system (for example, the identification label point can be used as the origin, the direction parallel to the end face of the shelf is the x-axis, and the direction perpendicular to the ground is the y-axis), so as to determine the coordinates of each information label in the current product image (for example, the center point coordinates of each information label).

[0034] The camera point can be at the same height as the center point of the information tag. The horizontal distance between each camera point and the edge of the shelf (shelf end face) can be a preset spacing. The preset spacing can be a preset value set by the designer. The preset spacing can be greater than 0.3m, which can ensure the safety of the drone and the goods and avoid collision between the drone and the goods.

[0035] For example, see Figure 4 , which is a schematic diagram of drone inspection according to an exemplary embodiment of the present application. The dotted line with an arrow represents the direction of the drone inspection, and the goods 420 can be placed on the shelf 410, which corresponds to the current collection area. Based on the direction of the drone inspection, the drone 200 flies to each shooting point and hovers at each shooting point to shoot an image to be identified including an information tag 100.

[0036] Step S330, obtaining the images to be identified taken by the drone at each shooting point.

[0037] In one embodiment of the present application, after determining each shooting point, the cloud can determine a shooting order based on each shooting point, and send the shooting order to the drone, so that the drone sequentially shoots the image to be identified at each shooting point based on the shooting order. When the drone shoots the image to be identified, the laser light source is turned on.

[0038] It should be noted that the laser light source is turned on when the drone is taking images. The drone can turn off the laser light source after taking the image and turn it on again when taking the next image. The laser light source can also be turned on all the time and turned off after the drone inspection is completed.

[0039] Step S340, based on the brightness ratio of the filter segment in the image to be identified and the brightness ratio of the photoluminescent area, determine the target hovering height and target camera angle of the drone, and send the target hovering height and target camera angle to the drone, so that the drone obtains the image to be processed including the information tag based on the target hovering height and target camera angle.

[0040] In one embodiment of the present application, the cloud can perform image recognition on the image to be identified, and determine the target hovering height and target camera angle of the drone based on the brightness ratio of the filter segment and the photoluminescent area in the image to be identified, and send the target hovering height and target camera angle to the drone.

[0041] After receiving the target hovering height and the target camera angle, the drone can adjust the hovering height and the camera angle of the drone to the target hovering height and the target camera angle.

[0042] It should be noted that the drone can conduct inspections at a preset initial height, the coordinates of the starting point in the preset coordinate system are preset values, the y-axis coordinate value of the starting point is the preset initial height, and the x-axis coordinate of the starting point is the horizontal distance between the left end of the shelf or the right end of the shelf and the identification label point.

[0043] In one possible implementation, the target hovering height and target camera angle of the drone are determined based on the brightness ratio of the filter segment and the photoluminescent area in the image to be identified, including: if the brightness ratio of the filter segment and the photoluminescent area in the image to be identified is greater than or equal to a preset threshold, information tag identification is performed based on the image to be identified; if the brightness ratio of the filter segment and the photoluminescent area in the image to be identified is less than a preset threshold, the target hovering height and target camera angle are determined based on a mapping relationship among a preset brightness ratio, hovering height, and camera angle.

[0044] In one embodiment of the present application, the preset threshold value may be 0.7. If the brightness ratio of the filter segment and the photoluminescent area in the image to be identified is greater than or equal to the preset threshold value, information tag identification is performed based on the image to be identified to determine the cargo information of the information tag in the image to be identified. If the brightness ratio of the filter segment and the photoluminescent area in the image to be identified is less than the preset threshold value, the image to be identified obtained by characterizing the hovering height and camera angle of the drone at this time cannot be effectively recognized, and the cloud can determine the target hovering height and target camera angle based on the mapping relationship between the preset brightness ratio, hovering height, and camera angle.

[0045] It should be noted that the designer can pre-calibrate the mapping relationship between the brightness ratio, the hovering height, and the camera angle. Regardless of the orientation of the photoluminescent area and the angle between the camera and the photoluminescent area, the brightness of the photoluminescent area will not change in the image to be identified under the excitation of the laser, while the orientation of the filter segment and the angle of the camera will affect the brightness of the filter segment in the image. Based on the image recognition technology, the brightness ratio of the filter segment in the image to be identified and the photoluminescent area can be determined.

[0046] In another possible implementation, if the brightness ratio of the filter segment and the photoluminescent area in the image to be identified is greater than or equal to a preset threshold, the information tag is identified based on the image to be identified; if the brightness ratio of the filter segment and the photoluminescent area in the image to be identified is less than the preset threshold, the target hovering height, target camera angle and target interval distance are determined based on the mapping relationship of the preset brightness ratio, interval distance, hovering height and camera angle. When the drone hovers at the shooting point for the first time to obtain the image to be identified during the current inspection process, the distance between the drone and the end face of the shelf is the preset spacing. When adjusting the height of the drone, there may be a high height that causes the field of view to be blocked. At this time, the interval distance can be adjusted to reduce the height adjustment.

[0047] For example, see Figure 5 , which is a schematic diagram of an information tag and a drone before adjustment according to an exemplary embodiment of the present application. The cargo 420 is provided with an information tag 100, and the angle between the tag orientation 510 of the information tag 100 and the camera orientation 520 of the drone 200 is relatively large. Figure 6 , which is a schematic diagram of an adjusted information tag and a drone according to an exemplary embodiment of the present application. After adjusting the drone height and camera angle, the angle between the tag orientation 510 of the information tag 100 and the camera orientation 520 of the drone 200 is smaller.

[0048] Optionally, the drone patrol control method provided in the embodiment of the present application may also include: determining the interval distance between the information tag and the drone camera; and determining the target frequency and target power of the laser light source based on the interval distance.

[0049] In one embodiment of the present application, distance recognition can be performed based on the image to be recognized to determine the interval distance between the information tag and the drone camera, and laser ranging can also be performed on the drone based on a laser light source to determine the interval distance between the information tag and the drone camera. After determining the interval distance, the target frequency and target power of the laser light source can be determined based on the preset interval distance to meet the requirement that the frequency gradually increases as the interval distance shortens, and the power gradually decreases as the interval distance shortens, thereby improving the drone's endurance.

[0050] Optionally, determining the target frequency and target power of the laser light source according to the interval distance may include: determining the target frequency and target power according to the interval distance and a mapping relationship between a preset interval distance, frequency and power. The ultraviolet light source on the drone is pulsed at intervals, and the power and frequency are divided into three levels, as shown in Table 1.

[0051] Table 1 Correspondence between laser light source parameters and spacing distance Separation distance Interval time (ms) Frequency (Hz) Power (W) Duty cycle (%) Long distance (>1.5m) 100 10 5 50% Medium distance (0.8-1.5m) 50 20 3 33% Close distance (0.3-0.8m) 20 50 1 10% High power ensures signal penetration at long distances, and low power reduces redundant energy consumption at close distances; the coordinated adjustment of pulse interval and frequency gradually reduces the duty cycle from 50% to 10%, significantly reducing average power consumption; pulse operation reduces continuous heating of LEDs, reduces heat dissipation requirements, and further improves power efficiency. The drone's flight endurance is significantly improved compared to continuous high-power, high-frequency generation of ultraviolet light.

[0052] Optionally, the process of determining multiple shooting points of the drone in the current collection area based on the position of the photoluminescent area on the information label of each cargo in the current cargo image in step S320 may include: Step S321, compare the current cargo image with the cargo image at the previous moment to determine whether there is any change in the cargo in the current collection area.

[0053] In one embodiment of the present application, the current cargo image taken by the drone at the starting point of the current collection area can be compared with the cargo image at the previous moment to determine whether there is a change in the cargo in the current collection area. The change in cargo can include at least one of a decrease in cargo, an increase in cargo, and a change in the location of cargo.

[0054] Step S322: if there is a change in the goods, the shooting point is determined based on the position of the photoluminescent area on the information label of each goods in the current goods image and the position of the photoluminescent area of ​​each goods.

[0055] In one embodiment of the present application, if there is a change in the cargo, the shooting point is determined based on the position of the photoluminescent area on the information tag of each cargo in the current cargo image, that is, the drone needs to shoot the information tag corresponding to each photoluminescent area.

[0056] Step S323, if there is no change in the goods, based on the position of the photoluminescent area on the information label of each goods in the current goods image, a preset number of target photoluminescent areas are randomly selected from the photoluminescent areas of all the goods, and the shooting point is determined based on the position of each target photoluminescent area.

[0057] In one embodiment of the present application, if there is no change in the goods, a preset number of target photoluminescent areas are randomly selected from the photoluminescent areas of all goods based on the position of the photoluminescent area on the information label of each goods in the current goods image, and the shooting point is determined based on the position of each target photoluminescent area. That is, when there is no change in the goods in the current collection area, several target photoluminescent areas can be randomly selected for random sampling, which can improve the efficiency of goods inventory.

[0058] Exemplarily, the preset number may be 3.

[0059] Optionally, the drone patrol control method provided in the embodiment of the present application may also include: obtaining the quantity of goods in the current collection area; determining the number of photoluminescent areas based on the current cargo image; if the quantity of goods and the number of photoluminescent areas are inconsistent, generating a prompt message.

[0060] In one embodiment of the present application, the quantity of goods in the current collection area can be obtained. When the goods are put into storage, the quantity can be synchronized to the remote end, and the quantity can be identified based on the current goods image to determine the quantity of goods in the current collection area. The number of photoluminescent areas is determined based on the current goods image. If the quantity of goods is inconsistent with the number of photoluminescent areas, a prompt message can be generated to prompt the user to check. If the quantity of goods is consistent with the number of photoluminescent areas, step S320 can be executed.

[0061] Exemplarily, the cloud can send the prompt information to the buzzer corresponding to the current collection area to issue an alarm prompt through the buzzer.

[0062] Figure 7 FIG. 1 is a block diagram of a drone patrol control system shown in an exemplary embodiment of the present application. Figure 7 As shown, the exemplary drone patrol control system 700 includes: The first data acquisition module 710 is used to acquire the current cargo image taken by the drone hovering at the starting point of the current collection area; the drone passes through multiple collection areas when inspecting along the preset patrol path, and the current collection area includes a shelf and at least one cargo placed on the shelf. The information tag is set on the cargo, and the information tag faces outside the shelf. An annular photoluminescent area is set around the information tag, and a filter segment is set in any section of the photoluminescent area. The drone is provided with a laser light source and a camera module. Under the irradiation of the laser light source, the photoluminescent area is displayed as a bright area in the current cargo image.

[0063] The first processing module 720 is used to determine multiple shooting points of the drone in the current collection area based on the position of the photoluminescent area on the information tag of each cargo in the current cargo image, and the shooting points correspond to the information tags one by one.

[0064] The second data acquisition module 730 is used to acquire the images to be identified taken by the drone at each shooting point.

[0065] The second processing module 740 is used to determine the target hovering height and target camera angle of the UAV based on the brightness ratio of the filter segment and the photoluminescent area in the image to be identified, and send the target hovering height and target camera angle to the UAV, so that the UAV obtains the image to be processed including the information tag based on the target hovering height and the target camera angle.

[0066] In one embodiment of the present application, the second processing module further includes: A first determination unit, configured to perform information tag recognition based on the image to be recognized if a brightness ratio of the filter segment and the photoluminescent area in the image to be recognized is greater than or equal to a preset threshold; The processing unit is used to determine the target hovering height and the target camera angle based on the mapping relationship among the preset brightness ratio, the hovering height and the camera angle if the brightness ratio between the filter segment and the photoluminescent area in the image to be identified is less than a preset threshold.

[0067] In one embodiment of the present application, the laser light source is an ultraviolet light source.

[0068] It should be noted that the UAV patrol control device provided in the above embodiment and the UAV patrol control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In practical applications, the UAV patrol control device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0069] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by one or more processors, the electronic device implements the drone patrol control method provided in the above-mentioned embodiments.

[0070] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the UAV patrol control method provided in each of the above embodiments. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently without being assembled into the electronic device.

[0071] Another aspect of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the UAV patrol control method provided in each of the above embodiments.

[0072] In the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. "Including" and "comprising" mentioned throughout the specification and claims are open-ended terms and should be interpreted as "including but not limited to".

[0073] The above embodiments are merely illustrative of the principles and effects of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for controlling a drone patrol, characterized in that: include: Get the current cargo image taken by the drone hovering at the starting point of the current collection area; The drone passes through multiple collection areas when inspecting along a preset patrol route. The current collection area includes a shelf and at least one item placed on the shelf. The information tag is set on the item and faces outside the shelf. An annular photoluminescent area is set around the information tag. A filter segment is set in any section of the photoluminescent area. The drone is provided with a laser light source and a camera module. Under the irradiation of the laser light source, the photoluminescent area is displayed as a bright area in the current item image. Based on the position of the photoluminescent area on the information tag of each cargo in the current cargo image, multiple shooting points of the drone in the current collection area are determined, and the shooting points correspond to the information tags one by one; Obtain the images to be identified taken by the drone at each shooting point; Based on the brightness ratio of the filter segment and the photoluminescent area in the image to be identified, the target hovering height and the target camera angle of the UAV are determined, and the target hovering height and the target camera angle are sent to the UAV, so that the UAV obtains the image to be processed including the information tag based on the target hovering height and the target camera angle.

2. The UAV patrol control method according to claim 1, characterized in that: Based on the brightness ratio of the filter segment and the photoluminescent area in the image to be identified, the target hovering height and the target camera angle of the drone are determined, including: If the brightness ratio of the filter segment and the photoluminescent area in the image to be identified is greater than or equal to a preset threshold, identifying the information tag based on the image to be identified; If the brightness ratio of the filter segment and the photoluminescent area in the image to be identified is less than a preset threshold, the target hovering height and the target camera angle are determined based on a mapping relationship among the preset brightness ratio, the hovering height and the camera angle.

3. The method for controlling the patrol of a UAV according to claim 1, characterized in that: The laser light source is an ultraviolet light source.

4. The method for controlling the patrol of a UAV according to claim 1, characterized in that: The method further comprises: Determine the separation distance between the information tag and the drone camera; The target frequency and target power of the laser light source are determined according to the separation distance.

5. The method for controlling the patrol of a UAV according to claim 4, characterized in that: Determine the target frequency and target power of the laser light source based on the separation distance, including: The target frequency and the target power are determined according to the mapping relationship between the interval distance and the preset interval distance, frequency and power.

6. The method for controlling the patrol of a UAV according to claim 1, characterized in that: Based on the position of the photoluminescent area on the information label of each cargo in the current cargo image, multiple shooting points of the drone in the current collection area are determined, including: Compare the current cargo image with the cargo image at the previous moment to determine whether there is any change in the cargo in the current acquisition area; If there is a change in the goods, the shooting point is determined based on the position of the photoluminescent area on the information label of each of the goods in the current goods image and the position of the photoluminescent area of ​​each of the goods; If there is no change in the goods, based on the position of the photoluminescent area on the information label of each goods in the current goods image, a preset number of target photoluminescent areas are randomly selected from the photoluminescent areas of all the goods, and the shooting point is determined based on the position of each target photoluminescent area.

7. The method for controlling the patrol of a UAV according to claim 1, characterized in that: The method further comprises: Obtain the quantity of goods in the current collection area; determining a number of photoluminescent regions based on the current cargo image; If the quantity of goods and the quantity of photoluminescent areas are inconsistent, a prompt message is generated.

8. A drone patrol control system, characterized in that: include: The first data acquisition module is used to acquire the current cargo image taken by the drone hovering at the starting point of the current collection area; The drone passes through multiple collection areas when inspecting along a preset patrol route. The current collection area includes a shelf and at least one item placed on the shelf. The information tag is set on the item and faces outside the shelf. An annular photoluminescent area is set around the information tag. A filter segment is set in any section of the photoluminescent area. The drone is provided with a laser light source and a camera module. Under the irradiation of the laser light source, the photoluminescent area is displayed as a bright area in the current item image. The first processing module is used to determine multiple shooting points of the drone in the current collection area based on the position of the photoluminescent area on the information tag of each cargo in the current cargo image, and the shooting points correspond to the information tags one by one; The second data acquisition module is used to acquire the images to be identified taken by the drone at each shooting point; The second processing module is used to determine the target hovering height and target camera angle of the UAV based on the brightness ratio of the filter segment and the photoluminescent area in the image to be identified, and send the target hovering height and target camera angle to the UAV, so that the UAV obtains the image to be processed including the information tag based on the target hovering height and the target camera angle.

9. The UAV patrol control system according to claim 8, characterized in that: The second processing module also includes: A first determination unit, configured to perform information tag recognition based on the image to be recognized if a brightness ratio of the filter segment and the photoluminescent area in the image to be recognized is greater than or equal to a preset threshold; The processing unit is used to determine the target hovering height and the target camera angle based on the mapping relationship among the preset brightness ratio, the hovering height and the camera angle if the brightness ratio between the filter segment and the photoluminescent area in the image to be identified is less than a preset threshold.

10. The UAV patrol control system according to claim 8, characterized in that: The laser light source is an ultraviolet light source.

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