Unmanned aerial vehicle commanding and dispatching system and unmanned aerial vehicle combined inspection method and device

Abstract

The invention provides an unmanned aerial vehicle commanding and dispatching system and an unmanned aerial vehicle combined inspection method and device. The system comprises a monitoring module, a situation overview module, a commanding and dispatching module, a combined flying module, a task module and an operation analysis module. The monitoring module is used for monitoring the frame outside the nest of the unmanned aerial vehicle and the frame of the unmanned aerial vehicle; the situation overview module is used for browsing a base station list, an unmanned aerial vehicle list, an inspection statistics list, an inspection record list and an operation analysis list to query corresponding information; the commanding and dispatching module is used for switching the base stations, acquiring real-time information corresponding to the base stations, and commanding and controlling the unmanned aerial vehicle based on the real-time information and a predetermined commanding strategy; the combined flying module is used for the plurality of base stations to perform combined inspection through a combined inspection route; the task module is used for displaying an inspection record list and an inspection plan list; and the job analysis module is used for displaying the task list and the result list. According to the mode, display and route planning of multi-base-station unmanned aerial vehicle combined inspection are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular, to an unmanned aerial vehicle command and dispatch system, an unmanned aerial vehicle joint inspection method and device. Background Art

[0002] The command and dispatch of unmanned aerial vehicles is crucial during the inspection process of unmanned aerial vehicles. The command and dispatch systems of related technologies usually only display the monitoring images corresponding to the unmanned aerial vehicles and the implementation status of the inspection tasks, without specific designs and reflections for the joint inspection of multi-base unmanned aerial vehicles. Moreover, the display of monitoring images and the information display of the completion status of inspection tasks are not very comprehensive. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide an unmanned aerial vehicle command and dispatch system, an unmanned aerial vehicle joint inspection method and device, which realize the display and route planning of the joint inspection of multi-base unmanned aerial vehicles, facilitate the remote control of unmanned aerial vehicles, and improve the comprehensiveness of information display.

[0004] In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle command and dispatch system, which includes: a monitoring module, a situation overview module, a command and dispatch module, a joint flight module, a task module, and an operation analysis module; the monitoring module is used to monitor the external image of the drone nest and the drone image; the situation overview module is used to browse the base station list, drone list, inspection statistics list, inspection record list, and operation analysis list to query corresponding information; the command and dispatch module is used to switch the base station and obtain the real-time information corresponding to the base station, and command and control the drone based on the real-time information and a pre-determined command strategy; the joint flight module is used to select multiple base stations, and formulate a joint inspection route based on a pre-set inspection task, the inspection power corresponding to the inspection task, and the working ranges of the multiple base stations; the multiple base stations conduct joint inspections through the joint inspection route; wherein, image acquisition is performed on the inspection interest points in the inspection task through the joint inspection route, and when performing image acquisition, the pan-tilt camera of the drone is opposite to the inspection interest point; the task module is used to display the inspection record list and the inspection plan list; record and generate the inspection task based on the inspection record list and the inspection plan list; the operation analysis module is used to display the task list and the result list; the task list includes the analysis information corresponding to the inspection task; the monitoring module, the situation overview module, the command and dispatch module, the joint flight module, the task module, and the operation analysis module are all displayed through an interface, and maps are set in the middle of the interfaces corresponding to the situation overview module, the command and dispatch module, the task module, and the operation analysis module.

[0005] In a preferred embodiment of the present invention, the above monitoring module is further configured to automatically display the drone screen when there is a base station in the task execution state, and remove the drone screen when the base station is not in the task execution state.

[0006] In a preferred embodiment of the present invention, the above base station list includes: the working state of the nest, the camera icon, and the base station icon. The monitoring outside the nest is opened by clicking the camera icon; the map corresponding to the situation overview module is switched to the perspective centered on the base station by clicking the base station icon; the drone list includes: the real-time drone data, and the real-time drone data includes: the online state, model, battery level, cumulative task times, mileage, and duration of the drone; the inspection statistics list includes: the total number of inspections, the current number of inspections, the inspection completion rate, and the inspection line chart; the inspection record list includes: the task name, time, task progress, number of shooting results, and number of generated alarms of the inspection record; the operation analysis list includes: the cumulative shooting results, number of alarms, duration, and mileage of all base stations.

[0007] In a preferred embodiment of the present invention, the above real-time information includes: base station information, drone details information, and nest task information; the base station information includes: the hatch state, nest state, nest battery level, cabin temperature, air conditioner state, data transmission state, and wind speed; the drone details information includes: the remaining battery level, altitude, speed, streaming state, camera state, video transmission signal, magnetic compass state, channel interference intensity, nose orientation, and gimbal pitch angle of the drone; the nest task information includes: inspection records and inspection plans; the interface corresponding to the command and dispatch module includes: a one-key return button, a point-to-point flight button, a breakpoint flight button, an immediate execution button, and a flight control button.

[0008] In a preferred embodiment of the present invention, when the inspection record list is clicked, the GPS map, the flight route of this inspection superimposed on the GPS map, the shooting results, and the alarm time are displayed; when the inspection plan list is clicked, the flight route is superimposed and displayed, and the inspection record list is associated with the inspection records that generate inspection tasks for the inspection plan.

[0009] In a preferred embodiment of the present invention, the above task list includes: task name, task start and end time, task progress, number of shooting results, and number of alarms; after clicking on the corresponding task name, the result list is associated with the results corresponding to the task record; the map corresponding to the operation analysis module is superimposed with the flight route, shooting result icons, and alarm icons; by clicking on the shooting result icon or the alarm icon, the picture corresponding to the shooting result icon or the video corresponding to the alarm icon is queried; the result list includes: shooting result icons or alarm icons, the pictures corresponding to the shooting result icons or the videos corresponding to the alarm icons, and the corresponding processing buttons.

[0010] In a preferred embodiment of the present invention, the joint flight execution module formulates a joint inspection route based on a pre-set inspection task, the inspection power corresponding to the inspection task, and the working ranges of multiple base stations, including: determining a target inspection route based on the inspection task; the target inspection route includes inspection waypoints arranged in serial number order and surrounding waypoints corresponding to inspection interest points; determining a base station that executes the task first and a base station that executes the task later based on the distances between the multiple base stations and the starting waypoint of the target inspection route respectively; circumscribing the target inspection route based on the maximum working range of the base station that executes the task first; circumscribing the part of the target inspection route outside the circumscribed range through the working range of the base station that executes the task later; if there are inspection waypoints and / or surrounding waypoints with discontinuous serial number order within the circumscribed range of the base station that executes the task first, reducing the circumscribed range corresponding to the base station that executes the task first and expanding the circumscribed range corresponding to the base station that executes the task later until the serial number order of the inspection waypoints and / or surrounding waypoints is continuous within the circumscribed range of the base station that executes the task first; performing an inspection route power estimation on the first target route composed of inspection waypoints and / or surrounding waypoints with continuous serial number order based on the inspection power 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 drone, taking the first target route composed of inspection waypoints and / or surrounding waypoints with continuous serial number order as the route corresponding to the base station that executes the task first, and taking the next waypoint of the first target route as a transition waypoint; taking the second target route other than the first target route in the target inspection route as the route corresponding to the base station that executes the task later; wherein, 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 form a joint inspection route.

[0011] In a preferred embodiment of the present invention, in the interface corresponding to the joint flight execution module, the joint inspection route is displayed, the inspected inspection waypoints and / or surrounding waypoints are color-coded, and for the un-inspected inspection waypoints and / or surrounding waypoints, the corresponding inspection waypoints and / or surrounding waypoints are clicked according to the real-time modification strategy to modify the waypoint information.

[0012] In a second aspect, an embodiment of the present invention further provides a method for joint inspection of drones, which is applied to the drone command and dispatch system in the first aspect, including: obtaining a pre-generated inspection task; formulating a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, and the working ranges of multiple base stations; collecting images of the inspection interest points in the inspection task through the joint inspection route, and when collecting images, the pan-tilt camera of the drone is opposite to the inspection interest point; the drones corresponding to the multiple base stations perform joint inspection through the joint inspection route.

[0013] In a third aspect, an embodiment of the present invention further provides a combined inspection device for drones, which is applied to the drone command and dispatch system in the first aspect, and includes: an inspection task acquisition module for acquiring pre-generated inspection tasks; a combined inspection route formulation module for formulating a combined inspection route based on the inspection tasks, the inspection power corresponding to the inspection tasks, and the working ranges of multiple base stations; performing image acquisition on the inspection interest points in the inspection tasks through the combined inspection route, and when performing image acquisition, the gimbal camera of the drone is opposite to the inspection interest points; a combined inspection module for the drones corresponding to multiple base stations to perform combined inspections through the combined inspection route.

[0014] The embodiments of the present invention bring the following beneficial effects: The embodiments of the present invention provide a drone command and dispatch system, a combined inspection method and device for drones. The drone command and dispatch system includes: a monitoring module, a situation overview module, a command and dispatch module, a combined flight execution module, a task module, and an operation analysis module; the monitoring module is used to monitor the external view of the drone's nest and the drone's view; the situation overview module is used to browse the base station list, drone list, inspection statistics list, inspection record list, and operation analysis list to query corresponding information; the command and dispatch module is used to switch base stations and obtain the real-time information corresponding to the base stations, and conduct command and control of the drones based on the real-time information and pre-determined command strategies; the combined flight execution module is used to select multiple base stations, and formulate a combined inspection route based on the pre-set inspection tasks, the inspection power corresponding to the inspection tasks, and the working ranges of multiple base stations; multiple base stations conduct combined inspections through the combined inspection route; wherein, image acquisition is performed on the inspection interest points in the inspection tasks through the combined inspection route, and when performing image acquisition, the gimbal camera of the drone is opposite to the inspection interest points; the task module is used to display the inspection record list and the inspection plan list; record and generate inspection tasks based on the inspection record list and the inspection plan list; the operation analysis module is used to display the task list and the result list; the task list includes the analysis information corresponding to the inspection tasks; the monitoring module, the situation overview module, the command and dispatch module, the combined flight execution module, the task module, and the operation analysis module are all displayed through an interface, and maps are set in the middle of the interfaces corresponding to the situation overview module, the command and dispatch module, the task module, and the operation analysis module. In this way, the display and route planning of the combined inspection of multi-base station drones are realized, the remote control of drones is facilitated, and the comprehensiveness of information display is improved.

[0015] Other features and advantages of the present disclosure will be described in the subsequent description, or, some features and advantages can be inferred from the description or determined without doubt, or can be known by implementing the above technologies of the present disclosure.

[0016] To make the above objects, features, and advantages of the present disclosure more apparent and understandable, the following provides preferred embodiments in conjunction with the accompanying drawings and detailed descriptions are as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a structural diagram of an unmanned aerial vehicle (UAV) command and dispatch system provided by an embodiment of the present invention; Figure 2 It is a flowchart of a method for determining a combined inspection route provided by an embodiment of the present invention; Figure 3 It is a flowchart of a UAV combined inspection method provided by an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a UAV combined inspection device provided by an embodiment of the present invention; Figure 5 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0020] The command and dispatch of UAVs are crucial during the UAV inspection process. The command and dispatch systems of related technologies usually only display the corresponding monitoring images of UAVs and the implementation status of inspection tasks, without specific designs and reflections for the combined inspection of multi-base UAVs, and the display of monitoring images and the information display of the completion status of inspection tasks are not very comprehensive.

[0021] Based on this, a UAV command and dispatch system, a UAV combined inspection method, and a device provided by an embodiment of the present invention can realize the display and route planning of the combined inspection of multi-base UAVs, facilitate the remote control of UAVs, and improve the comprehensiveness of information display.

[0022] For the convenience of understanding this embodiment, first, a drone command and dispatch system disclosed in the embodiments of the present invention will be introduced in detail.

[0023] Embodiment 1 The embodiment of the present invention provides a drone command and dispatch system. Figure 1 It is a structural diagram of a drone command and dispatch system provided by the embodiment of the present invention. As Figure 1 shown, the drone command and dispatch system may include the following structures: a monitoring module, a situation overview module, a command and dispatch module, a joint flight execution module, a task module, and a job analysis module.

[0024] Among them, the monitoring module is used to monitor the external picture of the drone nest and the drone picture.

[0025] Specifically, the monitoring module is also used to automatically display the drone picture when there is a base station in the task execution state, and remove the drone picture when the base station is not in the task execution state.

[0026] Among them, the situation overview module is used to browse the base station list, drone list, inspection statistics list, inspection record list, and job analysis list to query corresponding information.

[0027] Specifically, the base station list includes: the working state of the drone nest, a camera icon, and a base station icon. Clicking on the camera icon opens the external monitoring of the drone nest; clicking on the base station icon switches the map corresponding to the situation overview module to a perspective centered on the base station; the drone list includes: real-time drone data, and the real-time drone data includes: the online state, model, battery level, cumulative task times, mileage, and duration of the drone; the inspection statistics list includes: the total number of inspections, the current number of inspections, the inspection completion rate, and an inspection line chart; the inspection record list includes: the task name, time, task progress, number of shooting results, and number of generated alarms of the inspection record; the job analysis list includes: the cumulative shooting results, number of alarms, duration, and mileage of all base stations.

[0028] Among them, the command and dispatch module is used to switch the base station and obtain the corresponding real-time information of the base station, and command and control the drone based on the real-time information and a pre-determined command strategy.

[0029] Specifically, the real-time information includes: base station information, UAV details information, and nest mission information; the base station information includes: hatch status, nest status, nest battery power, cabin temperature, air conditioner status, data transmission status, and wind speed; the UAV details information includes: remaining power of the UAV, altitude, speed, streaming status, camera status, video transmission signal, magnetic compass status, channel interference intensity, nose orientation, and gimbal pitch angle; the nest mission information includes: inspection records and inspection plans; the interface corresponding to the command and dispatch module includes: one-key return button, point-to-point flight button, breakpoint flight button, execute immediately button, and flight control button.

[0030] Among them, after clicking the one-key return button, the system will send a return command to the base station, which is equivalent to interrupting the current mission, and the subsequent mission can be continued using breakpoint flight.

[0031] Among them, when the UAV is not performing a mission in the nest, after clicking the point-to-point flight button and selecting a certain point on the map, clicking confirm will make the UAV fly directly to that point immediately.

[0032] Among them, after clicking the breakpoint flight button, the mission record with the status of interrupted will display a resume flight icon. After clicking and confirming, the mission can be continued.

[0033] Among them, for the scheduled tasks generated by the inspection plan, when it has not reached the execution time, it is in a pending execution state. You can click the execute immediately button on the task record to advance the time to now and execute the task immediately. There is also an execute immediately button for the inspection plan. After clicking, a new task record will be generated according to the inspection route in the plan and the task will be executed.

[0034] Among them, when the remote control status is manual flight, use the flight control buttons or the keyboard on the device small window to control the UAV to move forward, backward, up, down, left, right, left rotation, right rotation, or emergency stop. It supports controlling the camera gimbal. If lighting equipment and loudspeaker equipment are installed, it also supports control.

[0035] Among them, different base stations can be switched through the drop-down menu. Other panel data will also be switched according to the base station, and at the same time, the middle map will use the base station as the center point. When the UAV is performing a mission, the route information and UAV icon will be overlaid on the middle map.

[0036] Among them, the joint flight execution module is used to select multiple base stations, and based on the pre-set inspection tasks, the inspection power corresponding to the inspection tasks, and the working ranges of each of the multiple base stations, a joint inspection route is formulated; multiple base stations conduct joint inspections through the joint inspection route; among them, image acquisition is performed on the inspection interest points in the inspection tasks through the joint inspection route, and when performing image acquisition, the gimbal camera of the UAV is opposite to the inspection interest point.

[0037] Specifically, in the interface corresponding to the joint flight module, the joint inspection route is displayed, and the inspected waypoints and / or surrounding waypoints that have been flown are color-coded. For the inspected waypoints and / or surrounding waypoints that have not been flown, click on the corresponding inspected waypoints and / or surrounding waypoints according to the real-time modification strategy to modify the waypoint information.

[0038] Among them, during flight, the route is adjusted temporarily, and the cruise interest points are adjusted temporarily. For the waypoints that have been flown, the waypoints turn into a specified color indicating completion and cannot be modified; for the waypoints that have not been flown, the waypoint information can be modified, including moving the waypoint, modifying the altitude and speed at the waypoint, modifying the interest point corresponding to the waypoint, etc. If a waypoint has a corresponding interest point, then during the flight from this waypoint to the next waypoint, the camera will keep pointing towards this waypoint. After modifying the information, click Save, regenerate the route file, and send it to the drone; support the temporary inspection function. Select any point on the map and click on temporary inspection. The drone will interrupt the current route task and fly towards the temporary inspection point. Subsequently, through the resume inspection button, the previously interrupted route task can be executed again.

[0039] Among them, the task module is used to display the inspection record list and the inspection plan list; record and generate inspection tasks based on the inspection record list and the inspection plan list.

[0040] Specifically, click on the inspection record list to display the GPS map, the route of this inspection superimposed on the GPS map, the shooting results, and the alarm time; click on the inspection plan list, and the route is superimposed and displayed. The inspection record list is associated with the inspection records that generate inspection tasks for the inspection plan.

[0041] Among them, the operation analysis module is used to display the task list and the result list; the task list includes the analysis information corresponding to the inspection task.

[0042] Specifically, the task list includes: task name, task start and end times, task progress, number of shooting results, and number of alarms; after clicking on the corresponding task name, the result list is associated with the results corresponding to the task record; the map corresponding to the operation analysis module superimposes the route, superimposes the shooting result icons and alarm icons; by clicking on the shooting result icon or the alarm icon, query the picture corresponding to the shooting result icon or the video corresponding to the alarm icon; the result list includes: shooting result icons or alarm icons, and the pictures corresponding to the shooting result icons or the videos corresponding to the alarm icons, as well as the corresponding processing buttons.

[0043] Among them, the monitoring module, the situation overview module, the command and dispatch module, the joint flight module, the task module, and the operation analysis module are all displayed through the interface. Maps are set in the middle of the interfaces corresponding to the situation overview module, the command and dispatch module, the task module, and the operation analysis module.

[0044] It should be noted that each interface of the UAV command and dispatch system contains buttons. By clicking on the buttons, corresponding information queries, information modifications, task assignments, etc. can be performed.

[0045] In the UAV command and dispatch system provided by the embodiment of the present invention, the monitoring module is used to monitor the external picture of the UAV hangar and the UAV picture; the situation overview module is used to browse the base station list, UAV list, inspection statistics list, inspection record list and operation analysis list to query the corresponding information; the command and dispatch module is used to switch the base station and obtain the real-time information corresponding to the base station, and command and control the UAV based on the real-time information and the pre-determined command strategy; the joint flight module is used to select multiple base stations and formulate a joint inspection route based on the pre-set inspection tasks, the inspection power corresponding to the inspection tasks, and the working ranges of the multiple base stations respectively; the multiple base stations conduct joint inspections through the joint inspection route; among them, image collection is performed on the inspection interest points in the inspection tasks through the joint inspection route, and when the image collection is performed, the pan-tilt camera of the UAV is opposite to the inspection interest point; the task module is used to display the inspection record list and the inspection plan list; record and generate the inspection tasks based on the inspection record list and the inspection plan list; the operation analysis module is used to display the task list and the result list; the task list includes the analysis information corresponding to the inspection tasks; the monitoring module, the situation overview module, the command and dispatch module, the joint flight module, the task module and the operation analysis module are all displayed through the interface, and maps are set in the middle of the interfaces corresponding to the situation overview module, the command and dispatch module, the task module and the operation analysis module. In this way, the display and route planning of the joint inspection of multi-base station UAVs are realized, the remote control of the UAV is facilitated, and the comprehensiveness of information display is improved.

[0046] Embodiment 2 The embodiment of the present invention also provides a method for determining a joint inspection route, specifically the specific steps for the joint flight module to formulate a joint inspection route based on the pre-set inspection tasks, the inspection power corresponding to the inspection tasks, and the working ranges of the multiple base stations respectively. Figure 2 It is a flowchart of a method for determining a joint inspection route provided by the embodiment of the present invention. As Figure 2 shown, the steps for the joint flight module to formulate a joint inspection route based on the pre-set inspection tasks, the inspection power corresponding to the inspection tasks, and the working ranges of the multiple base stations respectively may include the following steps: Step S201, determine the target inspection route based on the inspection task; the target inspection route includes inspection waypoints arranged in serial number order and surrounding waypoints corresponding to the inspection interest points.

[0047] Among them, determining the target inspection route based on the inspection task may include: determining inspection waypoints and inspection interest points based on the inspection task; determining surrounding waypoints based on the inspection interest points through a preset surrounding radius, number of waypoints, and shooting target; jointly numbering the inspection waypoints and surrounding waypoints to obtain a numbering sequence; and connecting the inspection waypoints and surrounding waypoints in the numbering sequence to form the target inspection route.

[0048] Among them, the inspection interest point is the point that requires the drone to circle and shoot with the lens always aimed at, and the shooting target is the requirement for shooting the inspection interest point, such as an angle requirement. Together with the surrounding radius and the number of waypoints, the number of surrounding waypoints, the distance from the inspection interest point, and the height, etc. can be determined.

[0049] Among them, both the inspection waypoints and the surrounding waypoints are waypoints, which jointly form the inspection trajectory. The inspection waypoints and the surrounding waypoints can be jointly numbered in sequence according to the target inspection route to obtain a numbering sequence.

[0050] Among them, the target inspection route marks the respective drone navigation information corresponding to the inspection waypoints and the surrounding waypoints.

[0051] Among them, the drone navigation information includes: drone angle information, drone speed information, and drone height information.

[0052] Among them, the drone angle information may include: course deflection angle and gimbal pitch angle.

[0053] Specifically, the determination method of the drone navigation information may 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 interest point; the drone position information includes: the first position information corresponding to the inspection waypoint and the second position information corresponding to the inspection interest point; arranging the waypoint positions corresponding to the first position information and the waypoint positions corresponding to the second position information in the numbering sequence; arranging the waypoint heights corresponding to the first height information and the waypoint heights corresponding to the second height information in the numbering sequence; determining the course deflection angle based on the arranged waypoint positions and the arranged waypoint heights; setting the respective third height information, second speed information, and third position information corresponding to the surrounding waypoints based on the shooting target; and determining the gimbal pitch angle based on the second position information, third position information, second height information, and third height information.

[0054] Step S202, determine the base station that executes the task first and the base station that executes the task later based on the distances between multiple base stations and the starting waypoint of the target inspection route.

[0055] Among them, the base station close to the starting waypoint can be used as the base station that executes tasks first, and the base station far from the starting waypoint can be used as the base station that executes tasks later.

[0056] Step S203: Enclose the target inspection route based on the maximum working range corresponding to the base station that executes tasks first.

[0057] Step S204: Enclose the part of the target inspection route outside the enclosed range through the working range of the base station that executes tasks later.

[0058] Step S205: If there are discontinuous inspection waypoints and / or surrounding waypoints in the enclosed range of the base station that executes tasks first, reduce the enclosed range corresponding to the base station that executes tasks first and expand the enclosed range corresponding to the base station that executes tasks later until the numbering order of the inspection waypoints and / or surrounding waypoints is continuous within the enclosed range of the base station that executes tasks first.

[0059] Step S206: Estimate the inspection route power of the first target route composed of the inspection waypoints and / or surrounding waypoints with continuous numbering order based on the inspection power to obtain an estimation result.

[0060] Step S207: If the estimation result indicates that the inspection power corresponding to the first target route is less than the full power of the drone, use the first target route composed of the inspection waypoints and / or surrounding waypoints with continuous numbering order as the route corresponding to the base station that executes tasks first, and use the next waypoint of the first target route as the transition waypoint.

[0061] Step S208: Use the second target route other than the first target route in the target inspection route as the route corresponding to the base station that executes tasks later.

[0062] Among them, the starting waypoint of the base station that executes tasks first is the starting waypoint of the target inspection route, and the starting waypoint of the base station that executes tasks later is the transition waypoint; the first target route and the second target route form a combined inspection route.

[0063] Embodiment 3 The embodiment of the present invention also provides a method for combined inspection of drones. Figure 3 It is a flowchart of a method for combined inspection of drones provided by the embodiment of the present invention. As Figure 3 shown, the method for combined inspection of drones may include the following steps: Step S301: Obtain a pre-generated inspection task.

[0064] Among them, the inspection task can be generated regularly through an inspection plan. For example, it can be generated regularly at a specified time every day or a specified time every week.

[0065] Among them, the inspection task may include: a target inspection route, in which the UAV navigation information is marked. The UAV navigation information may include: UAV angle information, UAV speed information, and UAV altitude information. The UAV angle information may include: course deflection angle and pan-tilt angle of the pan-tilt head.

[0066] Step S302: Develop a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, and the working ranges of multiple base stations.

[0067] Among them, image acquisition is performed on the inspection interest points in the inspection task through the joint inspection route. When performing image acquisition, the pan-tilt camera of the UAV is opposite to the inspection interest point. Specifically, this has been specifically described in the above Embodiment 2 and will not be elaborated here.

[0068] Step S303: Multiple UAVs corresponding to multiple base stations perform joint inspections through the joint inspection route.

[0069] Among them, one UAV starts to execute the corresponding inspection task from the starting point. After reaching the target point and completing the corresponding inspection task, another UAV takes the next point of the target point as the starting point to perform the corresponding inspection task until reaching the end point.

[0070] Further, for the selection of multiple base stations, for example, on the basis of the first base station, the second base station is selected for joint inspection. The working range of the first base station is the first working range, and the working range of the second base station is the second working range. The specific steps are as follows: Step A1: Determine some target inspection routes located outside the first working range.

[0071] Step A2: Determine whether the some target inspection routes contain surrounding waypoints.

[0072] Among them, the surrounding waypoints are set around the inspection interest points. For one inspection interest point, it is possible that some surrounding waypoints are within the first working range and some surrounding waypoints are outside the first working range. In this case, the target inspection route will be divided and discontinuous, and it is impossible to realize multiple base stations to relay the inspection task. Therefore, it is necessary to determine whether the some target inspection routes contain surrounding waypoints.

[0073] Step A3: If it contains surrounding waypoints, determine the target inspection interest points corresponding to the surrounding waypoints.

[0074] Step A4: Based on the some target inspection routes and all the surrounding waypoints corresponding to the target inspection interest points, perform base station screening to determine candidate second base stations whose working ranges contain the some target inspection routes.

[0075] Among them, in the case of including surrounding waypoints, all the surrounding 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 the surrounding waypoints corresponding to the target inspection interest points and part of the target inspection route is the candidate second base station.

[0076] Among them, the serial number order of the inspection waypoints and / or surrounding waypoints included in this part of the target inspection route is after the serial number order of the surrounding waypoints corresponding to the target inspection interest points.

[0077] Step A5, if there are no surrounding waypoints, then based on part of the target inspection route, perform base station screening to determine the candidate second base station whose working range includes part of the target inspection route.

[0078] Among them, the serial number order of the inspection waypoints and / or surrounding waypoints included in this part of the target inspection route is after the serial number order of the inspection waypoints and / or surrounding waypoints included in the first working range.

[0079] Step A6, take the candidate second base station closest to the first base station as the second base station.

[0080] Furthermore, there may be a situation where the working range cannot include part of the target inspection route. At this time, a third base station can be added to jointly complete the inspection task. While ensuring that the serial number order of the inspection waypoints and / or surrounding waypoints in the working range of the first base station is coherent, ensure that the serial number order of the inspection waypoints and / or surrounding waypoints in the second working range is coherent in the same way. At this time, the working range can include the remaining target inspection route, and the base station closest to the second base station is the third base station.

[0081] Among them, the above is only an exemplary example, and the number of base stations is determined according to the actual situation.

[0082] The unmanned aerial vehicle joint inspection method provided by the embodiments of the present invention jointly completes the inspection task through the joint inspection of unmanned aerial vehicles of multiple base stations, overcoming the problems of insufficient working range of a single base station and insufficient battery power of unmanned aerial vehicles.

[0083] Embodiment 4 Corresponding to the above method embodiment, the embodiments of the present invention provide an unmanned aerial vehicle joint inspection device. Figure 4 As shown in the structural schematic diagram of an unmanned aerial vehicle joint inspection device provided by the embodiments of the present invention, Figure 4 As shown, the unmanned aerial vehicle joint inspection device may include: An inspection task acquisition module 401, configured to acquire a pre-generated inspection task; The joint patrol route planning module 402 is used to plan a joint patrol route based on the patrol task, the patrol power corresponding to the patrol task, and the working ranges of multiple base stations; the joint patrol route is used to collect images of the patrol interest points in the patrol task. When collecting images, the gimbal camera of the drone is opposite to the patrol interest point. The joint patrol module 403 is used for the drones corresponding to multiple base stations to perform joint patrol through the joint patrol route.

[0084] The drone joint patrol device provided by the embodiment of the present invention jointly completes the patrol task through the joint patrol of the drones of multiple base stations, overcoming the problems of insufficient working range of a single base station and insufficient power of the drones.

[0085] For the device provided by the embodiment of the present invention, the implementation principle and the technical effects produced are the same as those of the foregoing method embodiment. For a brief description, for the parts not mentioned in the device embodiment, reference may be made to the corresponding content in the foregoing method embodiment.

[0086] Embodiment 5 The embodiment of the present invention further provides an electronic device for running the above-mentioned drone joint patrol method; see Figure 5 the structural schematic diagram of an electronic device shown. The electronic device includes a memory 500 and a processor 501. Among them, the memory 500 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 501 to implement the above-mentioned drone joint patrol method.

[0087] Furthermore, Figure 5 the electronic device shown further includes a bus 502 and a communication interface 503, and the processor 501, the communication interface 503, and the memory 500 are connected through the bus 502.

[0088] Among them, the memory 500 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory, such as at least one disk memory. Through at least one communication interface 503 (which can be wired or wireless), the communication connection between the system network element and at least one other network element is realized, and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 502 can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 5 only a bidirectional arrow is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0089] The processor 501 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 501 or the instructions in the form of software. The above-mentioned processor 501 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium 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. This storage medium is located in the memory 500, and the processor 501 reads the information in the memory 500 and combines its hardware to complete the steps of the method in the foregoing embodiments.

[0090] The embodiments of the present invention also provide 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 cause the processor to implement the above-mentioned method for joint inspection by unmanned aerial vehicles. For the specific implementation, reference can be made to the method embodiments, and details are not described herein again.

[0091] The computer program product for implementing the method for joint inspection by unmanned aerial vehicles provided by the embodiments of the present invention includes a computer-readable storage medium storing non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method in the foregoing method embodiments. For the specific implementation, reference can be made to the method embodiments, and details are not described herein again.

[0092] 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 foregoing method embodiments, and details are not described herein again.

[0093] In 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 merely illustrative. For example, the division of units is only a logical functional division. In actual implementation, there may be other division methods. For another 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some communication interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical, or other forms.

[0094] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0095] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0096] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0097] Finally, it should be noted that the above embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any technician familiar with the technical field of the present invention can still modify the technical solutions described in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; 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 all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A UAV command and dispatch system, characterized in that: The system includes: Monitoring module, situation overview module, command and dispatch module, joint flight module, mission module and operation analysis module; The monitoring module is used to monitor the external image of the drone and the image of the drone; The situation overview module is used to browse the base station list, drone list, inspection statistics list, inspection record list and operation analysis list to query corresponding information; The command and dispatch module is used to switch the base station and obtain the real-time information corresponding to the base station, and to command and control the UAV based on the real-time information and a predetermined command strategy; The joint flight execution module is used to select multiple base stations and formulate a joint inspection route based on a pre-set inspection task, the inspection power corresponding to the inspection task, and the respective working ranges of the multiple base stations; The plurality of base stations perform joint inspections via the joint inspection route; wherein, images of inspection points of interest in the inspection task are collected via the joint inspection route, and when collecting images, the gimbal camera of the drone is opposite to the inspection points of interest; The task module is used to display the inspection record list and the inspection plan list; record and generate the inspection task based on the inspection record list and the inspection plan list; The job analysis module is used to display a task list and a result list; the task list includes analysis information corresponding to the inspection task; The monitoring module, the situation overview module, the command and dispatch module, the joint flight execution module, the mission module and the operation analysis module are all displayed through an interface, and a map is set in the middle of the corresponding interfaces of the situation overview module, the command and dispatch module, the mission module and the operation analysis module.

2. The UAV command and dispatch system according to claim 1, characterized in that: The monitoring module is also used to automatically display the drone image when a base station is in a mission execution state, and to remove the drone image when the base station is not in a mission execution state.

3. The UAV command and dispatch system according to claim 1, characterized in that: The base station list includes: the working status of the machine nest, the camera icon and the base station icon. The monitoring outside the machine nest can be opened by clicking the camera icon; the map corresponding to the situation overview module can be switched to a base station-centered perspective by clicking the base station icon; the drone list includes: real-time drone data, which includes: the online status, model, power, cumulative number of missions, mileage and duration of the drone; the inspection statistics list includes: the total number of inspections, the current number of inspections, the inspection completion rate and the inspection line chart; the inspection record list includes: the task name, time, task progress, number of photographed results and number of alarms generated in the inspection record; the operation analysis list includes: the cumulative photographing results, number of alarms, duration and mileage of all base stations.

4. The UAV command and dispatch system according to claim 1, characterized in that: The real-time information includes: base station information, drone details information and nest mission information; the base station information includes: cabin door status, nest status, nest battery power, cabin temperature, air conditioning status, data return status and wind speed; the drone details information includes: drone remaining power, altitude, speed, streaming status, camera status, image transmission signal, magnetic compass status, channel interference intensity, nose direction and gimbal pitch angle; the nest mission information includes: inspection records and inspection plans; The interface corresponding to the command and dispatch module includes: a one-key return button, a pointing flight button, a breakpoint flight button, an immediate execution button and a flight control button.

5. The UAV command and dispatch system according to claim 1, characterized in that: Click on the inspection record list to display the GPS map, the GPS map superimposed with the route of this inspection, the shooting results and the alarm time; Click on the inspection plan list to overlay the route display, and the inspection record list is associated with the inspection records of the inspection tasks generated by the inspection plan.

6. The UAV command and dispatch system according to claim 1, characterized in that: The task list includes: task name, task start and end time, task progress, number of shooting results and number of alarms; after clicking the corresponding task name, the result list is associated with the results corresponding to the task record; the map corresponding to the operation analysis module is superimposed with routes, shooting result icons and alarm icons; by clicking the shooting result icon or the alarm icon, the picture corresponding to the shooting result icon or the video corresponding to the alarm icon is queried; the result list includes: the shooting result icon or the alarm icon, the picture corresponding to the shooting result icon or the video corresponding to the alarm icon, and the corresponding processing button.

7. The UAV command and dispatch system according to claim 6, characterized in that: The joint flight execution module formulates a joint inspection route based on the pre-set inspection tasks, the inspection power corresponding to the inspection tasks, and the respective working ranges of multiple base stations, including: Determine a target inspection route based on the inspection task; the target inspection route includes inspection waypoints arranged in numerical order and surrounding waypoints corresponding to inspection points of interest; Based on the distances between the plurality of base stations and the starting waypoint of the target inspection route, determining a base station for executing the task first and a base station for executing the task later; 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 inspection waypoints and / or surrounding waypoints with consecutive numbering sequences 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 inspection waypoints and / or 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 except 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. The UAV command and dispatch system according to claim 7, characterized in that: In the interface corresponding to the joint flight execution module, the joint inspection route is displayed, and the inspection waypoints and / or orbiting waypoints that have been flown are color-marked. For the inspection waypoints and / or orbiting waypoints that have not been flown, the corresponding inspection waypoints and / or orbiting waypoints are clicked according to the real-time modification strategy to modify the waypoint information.

9. A UAV joint inspection method, characterized in that: The UAV command and dispatch system applied to any one of claims 1 to 8, the method comprising: Get pre-generated inspection tasks; A joint inspection route is formulated based on the inspection task, the inspection power corresponding to the inspection task, and the respective working ranges of multiple base stations; 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 drones corresponding to the multiple base stations respectively perform joint inspection via the joint inspection route.

10. A UAV joint inspection device, characterized in that: The unmanned aerial vehicle command and dispatch system applied to any one of claims 1 to 8 comprises: Inspection task acquisition module, used to obtain pre-generated inspection tasks; A joint inspection route formulation module is used to formulate a joint inspection route based on the inspection task, the inspection power corresponding to the inspection task, and the respective working ranges of multiple base stations; 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 relative to the inspection points of interest during image collection; The joint inspection module is used for the drones corresponding to multiple base stations to perform joint inspections through the joint inspection route.

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