Unmanned aerial vehicle combined inspection method and device, electronic equipment and storage medium

Abstract

The invention provides an unmanned aerial vehicle combined inspection method and device, electronic equipment and a storage medium, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps: obtaining a pre-generated inspection task; determining whether to perform joint inspection based on the inspection task and a first working range of the first base station; if joint inspection is carried out, determining a second base station which carries out joint inspection with the first base station based on the first working range; formulating a joint inspection route based on the inspection task, the first working range and the second working range of the second base station; performing image acquisition on inspection interest points in the inspection task through the combined inspection route, wherein a pan-tilt camera of the unmanned aerial vehicle is opposite to the inspection interest points during image acquisition; and the first unmanned aerial vehicle of the first base station and the second unmanned aerial vehicle of the second base station perform joint inspection through the joint inspection route. According to the method, the inspection task is completed through combined inspection of the unmanned aerial vehicles of multiple base stations, and the problems of insufficient working range of a single base station and insufficient electric quantity of the unmanned aerial vehicles are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method, device, electronic equipment and storage medium for joint inspection by unmanned aerial vehicles. Background Art

[0002] With the development of science and technology, it is becoming more and more common to use drones to carry out some inspection tasks. In related technologies, the corresponding drones can be controlled by drone base stations (airports) to issue inspection tasks to drones, but some inspection tasks involve a large inspection range, which will exceed the working range of the corresponding drone base station, making it impossible for the drone to complete the inspection task, or the power may not be able to support the entire inspection task without exceeding the working range. This requires the drone to interrupt the task and charge before continuing the task. Whether the working range is insufficient or the drone power cannot support the entire inspection task, this increases the limitations of drone inspections. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a drone joint inspection method, device, electronic device and storage medium, which can jointly complete the inspection task by drone joint inspection of multiple base stations, overcome the problems of insufficient working range of a single base station and insufficient power of drones, and reduce the limitations of drone inspections.

[0004] In a first aspect, an embodiment of the present invention provides a method for joint inspection by unmanned aerial vehicles, the method comprising: obtaining a pre-generated inspection task; determining whether to perform a joint inspection based on the inspection task and a first working range of a first base station; if a joint inspection is performed, determining a second base station for joint inspection with the first base station based on the first working range; formulating a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, the first working range, and the second working range of the second base station; performing image acquisition of inspection points of interest in the inspection task through the joint inspection route, with the gimbal camera of the unmanned aerial vehicle facing the inspection points of interest during image acquisition; a first unmanned aerial vehicle of the first base station and a second unmanned aerial vehicle of the second base station performing a joint inspection through the joint inspection route.

[0005] In a preferred embodiment of the present invention, the above-mentioned determination of whether to conduct a joint inspection based on the inspection task and the first working range of the first base station includes: determining a target inspection route based on the inspection task; determining whether the target inspection route is completely contained in the first working range; if the target inspection route is not completely contained in the first working range, determining to conduct a joint inspection.

[0006] In a preferred embodiment of the present invention, the above-mentioned determination of the target inspection route based on the inspection task includes: determining the inspection waypoints and inspection points of interest based on the inspection task; determining the surrounding waypoints based on the inspection points of interest through a pre-set surrounding radius, number of waypoints and shooting targets; jointly numbering the inspection waypoints and the surrounding waypoints to obtain a numbering sequence; connecting the inspection waypoints and the surrounding waypoints in the numbering sequence to form the target inspection route; the target inspection route is marked with the drone navigation information corresponding to the inspection waypoints and the surrounding waypoints; the drone navigation information includes: drone angle information, drone speed information and drone altitude information.

[0007] In a preferred embodiment of the present invention, the above-mentioned drone angle information includes: a heading deflection angle and a gimbal pitch angle; the drone navigation information is determined in the following manner: based on the inspection task, the drone speed information, the drone height information and the drone position information are determined; the drone speed information includes: the first speed information corresponding to the inspection waypoint; the drone height information includes: the first height information corresponding to the inspection waypoint and the second height information corresponding to the inspection point of interest; the drone position information includes: the first position information corresponding to the inspection waypoint and the second position information corresponding to the inspection point of interest; the waypoint position corresponding to the first position information and the waypoint position corresponding to the second position information are arranged in numerical order; the waypoint height corresponding to the first height information and the waypoint height corresponding to the second height information are arranged in numerical order; the heading deflection angle is determined based on the arranged waypoint position and the arranged waypoint height; the third height information, the second speed information and the third position information corresponding to each of the surrounding waypoints are set based on the shooting target; the gimbal pitch angle is determined based on the second position information, the third position information, the second height information and the third height information.

[0008] In a preferred embodiment of the present invention, the above-mentioned determination of the second base station for joint inspection with the first base station based on the first working range includes: determining a partial target inspection route outside the first working range; determining whether the partial target inspection route includes an circling waypoint; if the circling waypoint is not included, performing base station screening based on the partial target inspection route to determine a candidate second base station whose working range includes the partial target inspection route; and using the candidate second base station closest to the first base station as the second base station.

[0009] In a preferred embodiment of the present invention, after determining whether a partial target inspection route includes a circling waypoint, the method further includes: if it includes a circling waypoint, determining the target inspection point of interest corresponding to the circling waypoint; performing base station screening based on all circling waypoints corresponding to the partial target inspection route and the target inspection point of interest, and determining a candidate second base station whose working range includes the partial target inspection route.

[0010] In a preferred embodiment of the present invention, the above-mentioned joint inspection route is formulated based on the inspection task, the inspection power corresponding to the inspection task, the first working range and the second working range of the second base station, including: determining the base station for executing the task first and the base station for executing the task later based on the distances between the first base station and the second base station and the starting waypoint of the target inspection route respectively; circle the target inspection route based on the maximum working range corresponding to the base station for executing the task first; circle part of the target inspection route outside the circled range through the working range of the base station for executing the task later; if there are inspection waypoints and / or surrounding waypoints with incoherent numbering sequence within the circled range of the base station for executing the task first, then narrow the circled range corresponding to the base station for executing the task first and expand the circled range corresponding to the base station for executing the task later, until the inspection waypoints and / or the numbering sequence of the surrounding waypoints is continuous; based on the inspection power, the inspection route power of the first target route composed of the inspection waypoints and / or surrounding waypoints with continuous numbering sequence is estimated to obtain an estimation result; if the estimation result indicates that the inspection power corresponding to the first target route is less than the full power of the UAV, then the first target route composed of the inspection waypoints and / or surrounding waypoints with continuous numbering sequence is used as the route corresponding to the base station that first executes the task, and the next waypoint of the first target route is used as the transition waypoint; the second target route in the target inspection route except the first target route is used as the route corresponding to the base station that later executes the task; wherein the starting waypoint of the base station that first executes the task is the starting waypoint of the target inspection route, and the starting waypoint of the base station that later executes the task is the transition waypoint; the first target route and the second target route constitute a joint inspection route.

[0011] In a second aspect, an embodiment of the present invention further provides a UAV joint inspection device, including: an inspection task acquisition module, used to acquire a pre-generated inspection task; a joint inspection determination module, used to determine whether to perform a joint inspection based on the inspection task and the first working range of the first base station; a second base station determination module, used to determine the second base station for joint inspection with the first base station based on the first working range if a joint inspection is to be performed; a joint inspection route formulation module, used to formulate a joint inspection route based on the inspection task, the first working range, and the second working range of the second base station; image acquisition of inspection points of interest in the inspection task is performed through the joint inspection route, and the gimbal camera of the UAV is opposite to the inspection points of interest when performing image acquisition; a joint inspection module, used for a first UAV of the first base station and a second UAV of the second base station to perform a joint inspection through a joint inspection route.

[0012] In a third aspect, an embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the UAV joint inspection method of the first aspect mentioned above.

[0013] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the UAV joint inspection method of the first aspect mentioned above.

[0014] The embodiments of the present invention bring the following beneficial effects: The embodiment of the present invention provides a method, device, electronic device and storage medium for joint inspection by unmanned aerial vehicles. By acquiring a pre-generated inspection task, it is determined whether to conduct a joint inspection based on the inspection task and the first working range of the first base station; if a joint inspection is conducted, a second base station for joint inspection with the first base station is determined based on the first working range, and a joint inspection route is formulated based on the inspection task, the first working range and the second working range of the second base station; wherein, images of inspection points of interest in the inspection task are collected through the joint inspection route, and the gimbal camera of the unmanned aerial vehicle is opposite to the inspection points of interest during image collection; the first unmanned aerial vehicle of the first base station and the second unmanned aerial vehicle of the second base station conduct joint inspections through the joint inspection route. In this method, the inspection task is completed jointly by the joint inspection of unmanned aerial vehicles of multiple base stations, which overcomes the problems of insufficient working range of a single base station and insufficient power of unmanned aerial vehicles, and reduces the limitations of unmanned aerial vehicle inspections.

[0015] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present disclosure.

[0016] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A flowchart of a UAV joint inspection method provided by an embodiment of the present invention; Figure 2 A flowchart of another UAV joint inspection method provided by an embodiment of the present invention; Figure 3 A flowchart of another UAV joint inspection method provided by an embodiment of the present invention; Figure 4 A flowchart of formulating a joint inspection route based on an inspection task, an inspection power corresponding to the inspection task, a first working range, and a second working range of a second base station in a joint inspection method for unmanned aerial vehicles provided in an embodiment of the present invention; Figure 5 A schematic diagram of the structure of a UAV joint inspection device provided by an embodiment of the present invention; Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] With the development of science and technology, it is becoming more and more common to use drones to carry out some inspection tasks. In related technologies, the corresponding drones can be controlled by drone base stations (airports) to issue inspection tasks to drones, but some inspection tasks involve a large inspection range, which will exceed the working range of the corresponding drone base station, making it impossible for the drone to complete the inspection task, or the power may not be able to support the entire inspection task without exceeding the working range. This requires the drone to interrupt the task and charge before continuing the task. Whether the working range is insufficient or the drone power cannot support the entire inspection task, this increases the limitations of drone inspections.

[0021] Based on this, an embodiment of the present invention provides a method, device, electronic device and storage medium for joint inspection of unmanned aerial vehicles. It can obtain a pre-generated inspection task, determine whether to conduct a joint inspection based on the inspection task and the first working range of the first base station; if a joint inspection is conducted, determine the second base station for joint inspection with the first base station based on the first working range, and formulate a joint inspection route based on the inspection task, the first working range and the second working range of the second base station; wherein, the inspection points of interest in the inspection task are imaged through the joint inspection route, and the gimbal camera of the unmanned aerial vehicle is opposite to the inspection points of interest during image acquisition; the first unmanned aerial vehicle of the first base station and the second unmanned aerial vehicle of the second base station conduct a joint inspection through the joint inspection route. In this method, the inspection task is completed by joint inspection of unmanned aerial vehicles of multiple base stations, which overcomes the problems of insufficient working range of a single base station and insufficient power of unmanned aerial vehicles, and reduces the limitations of unmanned aerial vehicle inspection.

[0022] To facilitate understanding of this embodiment, a UAV joint inspection method disclosed in an embodiment of the present invention is first introduced in detail.

[0023] Example 1 The embodiment of the present invention provides a UAV joint inspection method. Figure 1 The following is a flow chart of a UAV joint inspection method provided by an embodiment of the present invention. Figure 1 As shown, the UAV joint inspection method may include the following steps: Step S101, obtaining a pre-generated inspection task.

[0024] Among them, the inspection task can be generated regularly according to the inspection plan, for example, it can be generated regularly at a specified time every day or a specified time every week.

[0025] Among them, the inspection task may include: target inspection route, the target inspection route is marked with drone navigation information, the drone navigation information may include: drone angle information, drone speed information and drone altitude information, and the drone angle information may include: heading deflection angle and gimbal pitch angle.

[0026] Step S102: determining whether to perform joint inspection based on the inspection task and the first working range of the first base station.

[0027] Among them, the target inspection route can be determined through the inspection task first. If the target inspection route is all included in the first working range, it can be said that the first base station can cover the target inspection route, and there is no need for joint inspection; if there is a part of the target inspection route that is not included in the first working range, it can be said that the first base station cannot cover all the target inspection routes, and a joint inspection is required.

[0028] Step S103: If a joint inspection is to be performed, a second base station for joint inspection with the first base station is determined based on the first working range.

[0029] Among them, there can be multiple base stations around the first base station, and the second base station needs to be screened from the multiple base stations. The target inspection route has a starting point and an end point. The UAV starts from the starting point and reaches the end point along the trajectory corresponding to the target inspection route. This process requires the first base station and the second base station to complete it together in a relay manner. Therefore, the end point reached by the UAV that takes off first is usually used as the starting point for the UAV that takes off later. Therefore, the first working range can be gradually narrowed until the part of the target inspection route included in the first working range is a continuous trajectory. At this time, the base station closest to the first base station is selected as the second base station among the base stations whose working range can include the remaining target inspection routes.

[0030] If a joint inspection is not performed, the first drone of the first base station performs the inspection via the target inspection route.

[0031] Step S104, formulating a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, the first working range and the second working range of the second base station.

[0032] Among them, images of inspection points of interest in the inspection mission are collected through the joint inspection route, and the gimbal camera of the drone is opposite to the inspection points of interest during the image collection.

[0033] The inspection routes of the two base stations can be determined by the inspection task, the inspection power corresponding to the inspection task, the first working range and the second working range of the second base station, and the two inspection routes constitute a joint inspection route.

[0034] Step S105: The first drone of the first base station and the second drone of the second base station perform a joint inspection via a joint inspection route.

[0035] Among them, one drone will perform the corresponding inspection task from the starting point until it reaches the target point and completes the corresponding inspection task. Then another drone will take the next point of the target point as the starting point to perform the corresponding inspection task until it reaches the end point.

[0036] The unmanned aerial vehicle joint inspection method provided in the embodiment of the present invention can obtain a pre-generated inspection task, determine whether to conduct a joint inspection based on the inspection task and the first working range of the first base station; if a joint inspection is to be conducted, determine the second base station for joint inspection with the first base station based on the first working range, and formulate a joint inspection route based on the inspection task, the first working range, and the second working range of the second base station; wherein, the inspection points of interest in the inspection task are imaged through the joint inspection route, and the gimbal camera of the unmanned aerial vehicle is opposite to the inspection points of interest during image acquisition; the first unmanned aerial vehicle of the first base station and the second unmanned aerial vehicle of the second base station conduct a joint inspection through the joint inspection route. In this method, the inspection task is completed by joint inspection of unmanned aerial vehicles of multiple base stations, which overcomes the problems of insufficient working range of a single base station and insufficient power of unmanned aerial vehicles, and reduces the limitations of unmanned aerial vehicle inspections.

[0037] Example 2 An embodiment of the present invention also provides another UAV joint inspection method; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing the specific implementation method of determining whether to perform a joint inspection based on the inspection task and the first working range of the first base station.

[0038] Figure 2 A flowchart of another UAV joint inspection method provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the step of determining whether to perform a joint inspection based on the inspection task and the first working range of the first base station may include the following steps: Step S201, determining a target inspection route based on the inspection task.

[0039] Specifically, determining a target inspection route based on an inspection task may include: determining inspection waypoints and inspection points of interest based on the inspection task; determining circling waypoints based on the inspection points of interest by pre-setting a circling radius, number of waypoints, and shooting targets; jointly numbering the inspection waypoints and circling waypoints to obtain a numbering sequence; and connecting the inspection waypoints and circling waypoints in the numbering sequence to form a target inspection route.

[0040] Among them, the inspection points of interest are points that require the drone to circle and shoot with the lens always aimed at. The shooting target is the demand for shooting the inspection points of interest, such as angle requirements. Combined with the circling radius and the number of waypoints, the number of circling waypoints, the distance from the inspection points of interest, and the height can be determined.

[0041] Among them, the inspection waypoints and the circling waypoints are both waypoints, which together constitute the inspection trajectory. The inspection waypoints and the circling waypoints can be jointly numbered in sequence according to the target inspection route to obtain a numbering sequence.

[0042] Among them, the target inspection route marks the drone navigation information corresponding to the inspection waypoints and the circling waypoints.

[0043] Among them, the drone navigation information includes: drone angle information, drone speed information and drone altitude information.

[0044] Among them, the drone angle information may include: heading deflection angle and gimbal pitch angle.

[0045] Specifically, the method for determining the drone navigation information can be: determining the drone speed information, drone height information and drone position information based on the inspection task; the drone speed information includes: the first speed information corresponding to the inspection waypoint; the drone height information includes: the first height information corresponding to the inspection waypoint and the second height information corresponding to the inspection point of interest; the drone position information includes: the first position information corresponding to the inspection waypoint and the second position information corresponding to the inspection point of interest; arranging the waypoint position corresponding to the first position information and the waypoint position corresponding to the second position information in numerical order; arranging the waypoint height corresponding to the first height information and the waypoint height corresponding to the second height information in numerical order; determining the heading deflection angle based on the arranged waypoint position and the arranged waypoint height; setting the third height information, second speed information and third position information corresponding to each of the surrounding waypoints based on the shooting target; determining the gimbal pitch angle based on the second position information, the third position information, the second height information and the third height information.

[0046] Step S202, determining whether the target inspection route is completely contained in the first working range.

[0047] The first working range is the range of a circle with the first base station as the center and the farthest working distance as the radius.

[0048] Step S203: If the target inspection route is not completely included in the first working range, it is determined to perform a joint inspection.

[0049] When the target inspection route is not completely included in the first working range, it can be considered that the first base station cannot complete the corresponding inspection task alone, and other base stations are required to perform joint inspection.

[0050] Example 3 An embodiment of the present invention also provides another UAV joint inspection method; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing the specific implementation method of determining the second base station for joint inspection with the first base station based on the first working range.

[0051] Figure 3 A flowchart of another UAV joint inspection method provided by an embodiment of the present invention is as follows: Figure 3 As shown, the method of determining the second base station for joint inspection with the first base station based on the first working range may include the following steps: Step S301, determining part of the target inspection route outside the first working range.

[0052] Step S302, determining whether the partial target inspection route includes a circling waypoint.

[0053] Among them, the circling waypoints are set around the inspection interest points. For an inspection interest point, some circling waypoints may be within the first working range, and some circling waypoints may be outside the first working range. At this time, the target inspection route will be divided and discontinuous, and it is impossible to realize the inspection task of multiple base stations relaying. Therefore, it is necessary to determine whether some target inspection routes contain circling waypoints.

[0054] Step S303: If a surrounding waypoint is included, determine the target inspection interest point corresponding to the surrounding waypoint.

[0055] Step S304 , base station screening is performed based on all surrounding waypoints corresponding to the partial target inspection route and the target inspection point of interest, and a candidate second base station whose working range includes the partial target inspection route is determined.

[0056] Among them, when including circling waypoints, all circling waypoints corresponding to the target inspection interest points are excluded from the working range of the first base station, and the base station whose working range includes all circling waypoints corresponding to the target inspection interest points and part of the target inspection route is the candidate second base station.

[0057] The numbering sequence of the inspection waypoints and / or the circling waypoints included in the part of the target inspection route is after the numbering sequence of the circling waypoints corresponding to the target inspection interest points.

[0058] Step S305: If the circling waypoint is not included, base station screening is performed based on the partial target inspection route to determine a candidate second base station whose working range includes the partial target inspection route.

[0059] The numbering sequence of the inspection waypoints and / or circling waypoints included in the part of the target inspection route is after the numbering sequence of the inspection waypoints and / or circling waypoints included in the first working range.

[0060] Step S306: select the candidate second base station that is closest to the first base station as the second base station.

[0061] Furthermore, there may be a situation where the working range cannot include some target inspection routes. In this case, a third base station can be added to jointly complete the inspection task. While ensuring the continuity of the numbering sequence of the inspection waypoints and / or surrounding waypoints within the working range of the first base station, the second base station can be used in the same way to ensure the continuity of the numbering sequence of the inspection waypoints and / or surrounding waypoints within the second working range. At this time, the working range can include the remaining target inspection routes and the base station closest to the second base station is the third base station.

[0062] The above are just illustrative examples, and the number of base stations is determined according to actual conditions.

[0063] Example 4 An embodiment of the present invention also provides another UAV joint inspection method; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing the specific implementation method of formulating a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, the first working range and the second working range of the second base station.

[0064] Figure 4 A flowchart of another UAV joint inspection method provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the method of formulating a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, the first working range and the second working range of the second base station may include the following steps: Step S401 , based on the distances between the first base station and the second base station and the starting point of the target inspection route, determine a base station that performs the task first and a base station that performs the task later.

[0065] Among them, the base station close to the starting waypoint can be used as the base station for executing the task first, and the base station far from the starting waypoint can be used as the base station for executing the task later.

[0066] Step S402, the target inspection route is circled based on the maximum working range corresponding to the base station that first performs the task.

[0067] Step S403, circle the working range of the base station that performs the task after the inspection route of some targets outside the circled range passes through.

[0068] Step S404, if there are inspection waypoints and / or circling waypoints with inconsistent numbering sequence within the circled range of the base station that first executes the task, the circled range corresponding to the base station that first executes the task is reduced and the circled range corresponding to the base station that later executes the task is expanded, until the numbering sequence of the inspection waypoints and / or circling waypoints is consistent within the circled range of the base station that first executes the task.

[0069] Step S405 , based on the inspection power, an inspection route power estimation is performed on the first target route consisting of inspection waypoints and / or surrounding waypoints with consecutive numbering sequences to obtain an estimation result.

[0070] Step S406, if the estimated result indicates that the inspection power corresponding to the first target route is less than the full power of the drone, the first target route consisting of inspection waypoints and / or surrounding waypoints with consecutive numbering sequence is used as the route corresponding to the base station that first executes the task, and the next waypoint of the first target route is used as a transition waypoint.

[0071] Step S407: taking the second target route in the target inspection route except the first target route as the route corresponding to the base station for subsequent task execution.

[0072] Among them, the starting waypoint of the base station that executes the task first is the starting waypoint of the target inspection route, and the starting waypoint of the base station that executes the task later is the transition waypoint; the first target route and the second target route constitute a joint inspection route.

[0073] Based on the above-mentioned UAV joint inspection method, further, a UAV management platform system can be proposed, in which base station management, UAV management, alarm management, task management, inspection plan management and route management can be performed.

[0074] Specifically, regarding base station management: when adding a new base station, fill in the nest name, nest model, equipment SN, selected drone, bound nest monitoring, GPS coordinates, and working radius. Each drone airport is a base station, and the base stations can interact with each other through inspection plans to form a mesh inspection route, which solves the problem of limited single-point range and limited endurance. The mesh inspection route is set to a mesh when the inspection route is manually established. When establishing an inspection route or inspection plan, you can select at least two airports for joint inspection.

[0075] Specifically, regarding drone management: the problem of binding base stations and drones has been solved, and base station drones can be bound, unbound, and replaced at any time.

[0076] Specifically, regarding alarm management: algorithm analysis is performed based on the images obtained from drone inspections. For example, the images can be sent to an algorithm server for identification. Conventional algorithm identification can be performed, such as vehicle identification, pedestrian identification, and fire alarm identification. If violations are found, an alarm will be issued immediately and automatic announcements will be made.

[0077] Specifically, regarding task management: you can manage the tasks that the drone has performed in the past, the tasks that are in progress, and the tasks that are planned to be performed in the future. For the ongoing tasks, you can see the real-time location of the drone, inspection progress, inspection results, alarm records, inspection routes, etc., and communicate with the drone airport through the middleware mqtt. The system sends messages to mqtt, and the drone airport receives messages from mqtt; for scheduled tasks, the system generates the corresponding route files in advance, and pushes the files to mqtt 30 seconds in advance. After the drone airport receives it, it executes the route flight. After the flight, the drone airport will The shooting results during the flight are uploaded back to the system and can be viewed by the system. During the flight, the drone continuously reports its own status through the drone airport-mqtt-system, including real-time location, inspection progress, flight speed, altitude, etc. You can enter the map interface through the task details. On one side are the task information and route information. The map overlays the waypoints. If it is flying, it will also obtain the current real-time information of the drone and overlay it on the map for display, including the shooting results of the drone. Specifically, the drone will have its own GPS coordinates when sending back the results. You can overlay icons on the map based on the coordinates and click the icons to view the results.

[0078] Specifically, regarding inspection plan management: daily or weekly inspection tasks can be generated regularly through the inspection plan, and the drone will conduct inspections at the corresponding time, without the need for manual task setting, to achieve the function of daily automatic inspections.

[0079] Specifically, regarding route management: custom routes can be achieved by setting waypoints, flight trajectories, points of interest, and gimbal camera angles. When generating inspection tasks, the corresponding routes are selected for inspection. The route file is a kml file similar to the XML format. We only need to generate a file that it can recognize according to the corresponding format requirements to achieve a custom route. Instead of having to use a remote control to set the route, the route can be determined through the joint inspection route determination method mentioned in the UAV joint inspection method.

[0080] Example 5 Corresponding to the above method embodiment, the embodiment of the present invention provides a UAV joint inspection device, Figure 5 A schematic diagram of the structure of a UAV joint inspection device provided by an embodiment of the present invention is shown in FIG. Figure 5As shown, the UAV joint inspection device may include: The inspection task acquisition module 501 is used to acquire pre-generated inspection tasks.

[0081] The joint inspection determination module 502 is used to determine whether to perform a joint inspection based on the inspection task and the first working range of the first base station.

[0082] The second base station determination module 503 is configured to determine, based on the first working range, a second base station for joint inspection with the first base station if joint inspection is performed.

[0083] The joint inspection route formulation module 504 is used to formulate a joint inspection route based on the inspection task, the first working range and the second working range of the second base station; the image of the inspection interest points in the inspection task is collected through the joint inspection route, and the gimbal camera of the drone is relative to the inspection interest points during image collection.

[0084] The joint inspection module 505 is used for the first drone of the first base station and the second drone of the second base station to perform a joint inspection through a joint inspection route.

[0085] The unmanned aerial vehicle joint inspection device provided by the embodiment of the present invention can obtain a pre-generated inspection task, determine whether to conduct a joint inspection based on the inspection task and the first working range of the first base station; if a joint inspection is to be conducted, determine the second base station for joint inspection with the first base station based on the first working range, and formulate a joint inspection route based on the inspection task, the first working range, and the second working range of the second base station; wherein, the inspection points of interest in the inspection task are imaged through the joint inspection route, and the gimbal camera of the unmanned aerial vehicle is opposite to the inspection points of interest during image acquisition; the first unmanned aerial vehicle of the first base station and the second unmanned aerial vehicle of the second base station conduct a joint inspection through the joint inspection route. In this manner, the inspection task is completed jointly by the joint inspection of unmanned aerial vehicles of multiple base stations, which overcomes the problems of insufficient working range of a single base station and insufficient power of unmanned aerial vehicles, and reduces the limitations of unmanned aerial vehicle inspections.

[0086] In some embodiments, the joint inspection determination module is further used to determine a target inspection route based on the inspection task; determine whether the target inspection route is completely included in the first working range; if the target inspection route is not completely included in the first working range, determine to perform a joint inspection.

[0087] In some embodiments, the joint inspection determination module is also used to determine inspection waypoints and inspection points of interest based on the inspection tasks; determine the circling waypoints based on the inspection points of interest through a pre-set circling radius, number of waypoints and shooting targets; jointly number the inspection waypoints and circling waypoints to obtain a numbering sequence; connect the inspection waypoints and circling waypoints in the numbering sequence to form a target inspection route; the target inspection route is marked with the drone navigation information corresponding to the inspection waypoints and circling waypoints; the drone navigation information includes: drone angle information, drone speed information and drone altitude information.

[0088] In some embodiments, the joint inspection determination module is also used to determine the UAV speed information, UAV height information and UAV position information based on the inspection task; the UAV speed information includes: the first speed information corresponding to the inspection waypoint; the UAV height information includes: the first height information corresponding to the inspection waypoint and the second height information corresponding to the inspection point of interest; the UAV position information includes: the first position information corresponding to the inspection waypoint and the second position information corresponding to the inspection point of interest; the waypoint position corresponding to the first position information and the waypoint position corresponding to the second position information are arranged in numerical order; the waypoint height corresponding to the first height information and the waypoint height corresponding to the second height information are arranged in numerical order; the heading deflection angle is determined based on the arranged waypoint position and the arranged waypoint height; the third height information, second speed information and third position information corresponding to each of the surrounding waypoints are set based on the shooting target; the gimbal pitch angle is determined based on the second position information, the third position information, the second height information and the third height information.

[0089] In some embodiments, the second base station determination module is also used to determine a partial target inspection route located outside the first working range; determine whether the partial target inspection route includes an circling waypoint; if it does not include an circling waypoint, perform base station screening based on the partial target inspection route to determine a candidate second base station whose working range includes the partial target inspection route; and use the candidate second base station closest to the first base station as the second base station.

[0090] In some embodiments, the second base station determination module is also used to determine the target inspection interest points corresponding to the surrounding waypoints if they are included; perform base station screening based on all surrounding waypoints corresponding to the partial target inspection routes and the target inspection interest points, and determine a candidate second base station whose working range includes the partial target inspection route.

[0091] In some embodiments, the joint inspection route planning module is also used to determine the base station for performing the task first and the base station for performing the task later based on the distances between the first base station and the second base station and the starting waypoint of the target inspection route respectively; circle the target inspection route based on the maximum working range corresponding to the base station for performing the task first; circle part of the target inspection route outside the circled range through the working range of the base station for performing the task later; if there are inspection waypoints and / or surrounding waypoints with inconsistent numbering sequence within the circled range of the base station for performing the task first, then narrow the circled range corresponding to the base station for performing the task first and expand the circled range corresponding to the base station for performing the task later, until the numbering sequence of the inspection waypoints and / or surrounding waypoints is consistent within the circled range of the base station for performing the task first; An inspection route power estimation is performed on a first target route consisting of inspection waypoints and / or circling waypoints with consecutive numbering sequence to obtain an estimation result; if the estimation result indicates that the inspection power corresponding to the first target route is less than the full power of the UAV, the first target route consisting of inspection waypoints and / or circling waypoints with consecutive numbering sequence is used as the route corresponding to the base station that first executes the task, and the next waypoint of the first target route is used as a transition waypoint; the second target route in the target inspection route except the first target route is used as the route corresponding to the base station that later executes the task; wherein the starting waypoint of the base station that first executes the task is the starting waypoint of the target inspection route, and the starting waypoint of the base station that later executes the task is the transition waypoint; the first target route and the second target route constitute a joint inspection route.

[0092] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0093] Example 6 The embodiment of the present invention also provides an electronic device for running the above-mentioned UAV joint inspection method; see Figure 6 A structural schematic diagram of an electronic device is shown, which includes a memory 600 and a processor 601, wherein the memory 600 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 601 to implement the above-mentioned UAV joint inspection method.

[0094] Further, Figure 6 The electronic device shown further includes a bus 602 and a communication interface 603 , and the processor 601 , the communication interface 603 and the memory 600 are connected via the bus 602 .

[0095] The memory 600 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 603 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 602 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0096] The processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 601. The above processor 601 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 600, and the processor 601 reads the information in the memory 600 and completes the steps of the method of the above embodiment in combination with its hardware.

[0097] An embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned drone joint inspection method. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0098] The computer program product for the method of performing joint inspection by unmanned aerial vehicles provided in an embodiment of the present invention includes a computer-readable storage medium storing a non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0099] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0100] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0101] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0102] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0103] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that can be executed by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., various media that can store program codes.

[0104] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A UAV joint inspection method, characterized in that: The method comprises: Get pre-generated inspection tasks; Determining whether to perform a joint inspection based on the inspection task and the first working range of the first base station; If a joint inspection is performed, determining a second base station for joint inspection with the first base station based on the first working range; A joint inspection route is formulated based on the inspection task, the inspection power corresponding to the inspection task, the first working range, and the second working range of the second base station; images of inspection points of interest in the inspection task are collected through the joint inspection route, and the gimbal camera of the drone is opposite to the inspection points of interest during image collection; The first drone of the first base station and the second drone of the second base station perform a joint inspection via the joint inspection route.

2. The method according to claim 1, characterized in that The determining whether to perform a joint inspection based on the inspection task and the first working range of the first base station includes: Determining a target inspection route based on the inspection task; Determining whether the target inspection route is completely contained in the first working range; If the target inspection route is not completely included in the first working range, it is determined to perform a joint inspection.

3. The method according to claim 2, characterized in that The determining of a target inspection route based on the inspection task includes: Determine inspection waypoints and inspection points of interest based on the inspection task; Determine the surrounding waypoints based on the inspection interest points by pre-setting the surrounding radius, the number of waypoints and the shooting target; Jointly numbering the inspection waypoints and the circumnavigation waypoints to obtain a numbering sequence; The inspection waypoints and the circling waypoints are connected in the order of the numbers to form the target inspection route; the target inspection route is marked with the drone navigation information corresponding to the inspection waypoints and the circling waypoints; the drone navigation information includes: drone angle information, drone speed information and drone altitude information.

4. The method according to claim 3, characterized in that The drone angle information includes: heading deflection angle and gimbal pitch angle; the drone navigation information is determined by: Determine the drone speed information, drone height information and drone position information based on the inspection task; the drone speed information includes: first speed information corresponding to the inspection waypoint; the drone height information includes: first height information corresponding to the inspection waypoint and second height information corresponding to the inspection point of interest; the drone position information includes: first position information corresponding to the inspection waypoint and second position information corresponding to the inspection point of interest; Arrange the waypoint positions corresponding to the first position information and the waypoint positions corresponding to the second position information in the order of the numbers; Arrange the waypoint heights corresponding to the first height information and the waypoint heights corresponding to the second height information in the order of the numbers; Determine the heading deflection angle based on the arranged waypoint positions and the arranged waypoint altitudes; Setting the third altitude information, the second speed information and the third position information corresponding to each of the surrounding waypoints based on the photographing target; The gimbal pitch angle is determined based on the second position information, the third position information, the second height information, and the third height information.

5. The method according to claim 3, characterized in that: The determining, based on the first working range, of a second base station for joint inspection with the first base station includes: determining a portion of the target inspection route outside the first working range; Determining whether part of the target inspection route includes the circumventing waypoint; If the circling waypoint is not included, base station screening is performed based on part of the target inspection route to determine a candidate second base station whose working range includes part of the target inspection route; The candidate second base station which is closest to the first base station is used as the second base station.

6. The method according to claim 5, characterized in that After determining whether the target inspection route includes the circumnavigation waypoint, the method further includes: If the surrounding waypoint is included, determining the target inspection interest point corresponding to the surrounding waypoint; Base station screening is performed based on all surrounding waypoints corresponding to part of the target inspection route and the target inspection point of interest, and a candidate second base station whose working range includes part of the target inspection route is determined.

7. The method according to claim 3, characterized in that The formulating a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, the first working range, and the second working range of the second base station includes: Determine a base station for performing tasks first and a base station for performing tasks later based on the distances between the first base station and the second base station and the starting waypoint of the target inspection route respectively; Delineating the target inspection route based on the maximum working range corresponding to the base station that first performs the task; The part of the target inspection route outside the circled range is circled through the working range of the post-task execution base station; If there are inspection waypoints and / or circling waypoints with incoherent numbering sequence within the circled range of the base station for performing the task first, then the circled range corresponding to the base station for performing the task first is reduced and the circled range corresponding to the base station for performing the task later is expanded, until the numbering sequence of the inspection waypoints and / or circling waypoints is incoherent within the circled range of the base station for performing the task first; Based on the inspection power, an inspection route power estimation is performed on a first target route consisting of the inspection waypoints and / or the surrounding waypoints which are serially numbered to obtain an estimation result; If the estimated result indicates that the inspection power corresponding to the first target route is less than the full power of the drone, the first target route consisting of the inspection waypoints and / or the surrounding waypoints with consecutive numbering sequence is used as the route corresponding to the first mission execution base station, and the next waypoint of the first target route is used as a transition waypoint; Using a second target route in the target inspection route other than the first target route as the route corresponding to the post-task execution base station; Among them, the starting waypoint of the base station that executes the task first is the starting waypoint of the target inspection route, and the starting waypoint of the base station that executes the task later is the transition waypoint; the first target route and the second target route constitute a joint inspection route.

8. A UAV joint inspection device, characterized in that: The device comprises: Inspection task acquisition module, used to obtain pre-generated inspection tasks; A joint inspection determination module, used to determine whether to perform a joint inspection based on the inspection task and the first working range of the first base station; A second base station determination module, configured to determine, if a joint inspection is performed, a second base station for joint inspection with the first base station based on the first working range; A joint inspection route formulation module is used to formulate a joint inspection route based on the inspection task, the first working range and the second working range of the second base station; an image of the inspection interest point in the inspection task is collected through the joint inspection route, and the gimbal camera of the drone is opposite to the inspection interest point during the image collection; The joint inspection module is used for the first UAV of the first base station and the second UAV of the second base station to perform a joint inspection through the joint inspection route.

9. An electronic device, characterized in that: It includes a processor and a memory, the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the UAV joint inspection method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the UAV joint inspection method described in any one of claims 1 to 7.

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