Indoor unmanned aerial vehicle electric power inspection method and system

Abstract

The invention belongs to the technical field of electric power unmanned aerial vehicle inspection. According to the electric power inspection method and system for the indoor unmanned aerial vehicle, after the unmanned aerial vehicle takes off, the unmanned aerial vehicle sequentially passes through waypoints according to the set sequence of an inspection route, corresponding waypoint actions are executed, and the waypoints comprise the upper safe waypoint and the lower safe waypoint; when the unmanned aerial vehicle needs to exit the inspection task, all waypoints are traversed, the nearest upper safe waypoint and the nearest lower safe waypoint are found, and according to the found upper safe waypoint and the found lower safe waypoint, unmanned aerial vehicle homeward voyage or forced landing control is carried out; the efficiency, accuracy and safety of electric power indoor inspection are improved, and stable and reliable operation of an electric power system is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of power drone inspection, and particularly to an indoor drone power inspection method and system. Background Art

[0002] The statements in this part merely provide the background art related to the present invention and do not necessarily constitute the prior art.

[0003] As a key component of the power system, the stable operation of indoor power equipment is crucial for ensuring the safe power supply of the entire power network. Traditional indoor power inspection methods mainly rely on robots, visual monitoring, manual inspections, etc., that is, through robots, visual monitoring, and inspection personnel regularly observing the operation status of equipment through cameras, naked eyes, etc. in indoor places such as power distribution rooms and substations. However, this inspection method has many limitations. For example, the inspection efficiency is low. Especially in large indoor power places, it takes a lot of manpower and time to complete a comprehensive inspection; the inspection cost is high. Track robots and visual monitoring equipment both require the transformation of the indoor environment, and the cost of laying tracks and calibrating the positions of monitoring equipment is high; the reliability is low. The shooting accuracy largely depends on the experience and skill level of inspection personnel. As the working time increases, the accuracy of monitoring equipment and track robots will also decline, affecting the quality of captured images.

[0004] In recent years, drone technology has been widely used in various fields, with the characteristics of strong mobility, high flexibility, and high intelligence. In outdoor power inspections, drones have achieved remarkable results and can efficiently inspect transmission lines, etc., and timely detect line faults and hidden dangers. However, in indoor power inspections, there are still the following problems: (1) Current indoor positioning technologies are easily affected by obstacles, signal attenuation, and electromagnetic interference in the indoor power environment, resulting in a decrease in positioning accuracy and being unable to provide reliable navigation information for drones; (2) Existing obstacle avoidance methods usually rely on simple sensor data. When a drone needs to temporarily withdraw from the inspection task, it is difficult to flexibly respond to various sudden obstacles in a complex indoor environment, increasing the inspection risk. Summary of the Invention

[0005] To solve the deficiencies of the prior art, the present invention provides an indoor drone power inspection method and system, which improves the efficiency, accuracy, and safety of indoor power inspections, and ensures the stable and reliable operation of the power system.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In the first aspect, the present invention provides an indoor drone power inspection method.

[0008] An indoor drone power inspection method, including the following processes:

[0009] After taking off, it sequentially passes through waypoints according to the set order of the inspection route and performs corresponding waypoint actions. The waypoints include upper safety waypoints and lower safety waypoints;

[0010] When the drone needs to exit the inspection task, it traverses all waypoints to find the nearest upper safety waypoint and lower safety waypoint, and performs drone return or forced landing control according to the found upper safety waypoint and lower safety waypoint.

[0011] As a further limitation of the first aspect of the present invention, when there is a path allowing the drone to pass through directly connected to a point at any height above the airport after a certain waypoint is elevated, then this waypoint is defined as an upper safety waypoint; when a certain waypoint satisfies that the lower part is flat ground, without equipment and obstacles, then this waypoint is defined as a lower safety waypoint.

[0012] As a further limitation of the first aspect of the present invention, the drone return or forced landing control strategy includes:

[0013] Strategy 1: The drone traverses the waypoints forward and backward along the route to find the nearest upper safety waypoint, modifies the route to go from the current position along the original route to the upper safety waypoint, elevates to the starting point of the direct path at the upper safety waypoint, flies over the direct path to a certain height above the airport, descends to the last waypoint, and enters the next process;

[0014] Strategy 2: The drone traverses the waypoints forward and backward along the route to find the nearest lower safety waypoint, modifies the route to go from the current position along the original route to the lower safety waypoint, and performs an in-situ forced landing at this waypoint. After the forced landing, the drone reports an abnormal route and ends;

[0015] Strategy 3: The drone traverses the waypoints forward and backward along the route to find a shorter direction of the path, modifies the route to the waypoints on the shorter path, cancels the camera action and attitude angle of the waypoint, and returns along the new route.

[0016] As a further limitation of the first aspect of the present invention, for the situations where the drone receives a return instruction, is disconnected from the airport, and has insufficient battery power, it returns by Strategy 1. If the route does not include an upper safety waypoint, it then turns to execute Strategy 3. During the return process, the battery power is monitored synchronously, and it is calculated whether the remaining flight time supports the drone to return to the airport. If not, it then turns to execute Strategy 2;

[0017] When the drone fails, it directly performs a forced landing through Strategy 2.

[0018] As a further limitation of the first aspect of the present invention, before the UAV takes off, it further includes the self-check and take-off control process of the UAV, including: issuing an inspection task, turning on the UAV, self-checking the UAV, setting inspection parameters, and taking off the UAV; among them, after issuing the inspection task, the flight route is verified, and the verification includes: file format verification, flight distance verification, and point position verification.

[0019] As a further limitation of the first aspect of the present invention, when performing the inspection task, it further includes the processes of returning, landing, clamping and centering for charging:

[0020] Monitor whether the UAV reports the end of the abnormal flight route. If it reports, it means that the UAV has made an emergency landing at the lower safety waypoint and needs to be manually reset, and the airport is adjusted to the fault state;

[0021] If the end of the abnormal flight route is not reported, after the UAV finishes the flight route task, it is located at the set height directly above the airport, and the UAV is guided to make a precise landing. Whether the UAV lands in the airport is judged by whether the charging is successful;

[0022] If the charging starts successfully, the task process ends. If the charging fails, it is judged that the UAV has not landed in the centering area. The airport issues a take-off command, and the UAV takes off to the set height directly above, first flies to the last point of the flight route, and makes a precise landing again. If the charging still fails after repeating the landing set number of times, it is judged that the airport is faulty and needs to be manually reset.

[0023] In the second aspect, the present invention provides an indoor UAV power inspection system.

[0024] An indoor UAV power inspection system includes:

[0025] A UAV, an airport, and a background control terminal. The background control terminal is respectively communicatively connected with the controller of the UAV and the controller of the airport. The background controller is used for issuing inspection tasks, receiving inspection data, and setting inspection parameters;

[0026] The airport is used for turning on the UAV, taking off and landing the UAV, charging the UAV, self-checking the UAV, and shutting down the UAV;

[0027] The UAV is configured to execute the indoor UAV power inspection method described in the first aspect of the present invention.

[0028] In the third aspect, the present invention provides an indoor UAV power inspection system.

[0029] An indoor UAV power inspection system includes:

[0030] The inspection control unit is configured to: after takeoff, sequentially pass through waypoints according to the set order of the inspection route and perform corresponding waypoint actions, where the waypoints include upper safety waypoints and lower safety waypoints;

[0031] The mission exit control unit is configured to: when the drone needs to exit the inspection mission, traverse all waypoints, find the nearest upper safety waypoint and lower safety waypoint, and perform drone return or forced landing control based on the found upper safety waypoint and lower safety waypoint.

[0032] In a fourth aspect, the present invention provides a computer device, including: a processor and a computer-readable storage medium;

[0033] The processor is adapted to execute a computer program;

[0034] The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, it implements the indoor drone power inspection method as described in the first aspect of the present invention.

[0035] In a fifth aspect, the present invention provides a computer-readable storage medium that stores a computer program, and the computer program is adapted to be loaded and executed by a processor to implement the indoor drone power inspection method as described in the first aspect of the present invention.

[0036] Compared with the prior art, the beneficial effects of the present invention are:

[0037] The present invention innovatively proposes an indoor drone power inspection method, designs a task safety exit priority strategy based on waypoint attributes, selects an exit strategy according to the upper safety waypoint and lower safety waypoint obtained by traversal, solves the problem that the drone gets stuck in a dead end of the local map and triggers obstacle avoidance and cannot smoothly execute the next action, improves the efficiency, accuracy and safety of indoor power inspection, and ensures the stable and reliable operation of the power system; after the drone inspection is completed, it listens for whether the drone reports an abnormal end of the flight route. If it reports, it means that the drone has made a forced landing at the lower safety waypoint and needs to be manually reset, and the airport is adjusted to a fault state. If it does not report an abnormal end of the flight route, specific precision landing control is performed to ensure the safety of the drone landing.

[0038] The advantages of the additional aspects of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0039] The accompanying drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0040] Figure 1 It is a schematic flowchart of the indoor drone power inspection method provided in Embodiment 1 of the present invention;

[0041] Figure 2 It is a schematic diagram of an indoor drone power inspection system provided in Embodiment 2 of the present invention;

[0042] Figure 3 It is a schematic diagram of a computer device provided in Embodiment 3 of the present invention. Detailed implementation manners

[0043] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0044] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0045] Without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0046] Embodiment 1:

[0047] As described in the background art, since there are risks such as bumping into equipment and making an emergency landing above the equipment during indoor drone power inspection, which may cause safety accidents, it is necessary to avoid such risks through route verification, return strategies, etc. In the outdoor autonomous inspection scenario of drones, drones usually respond to warnings such as insufficient battery power and signal loss, and avoid the risk of crashing by ascending for return or making an emergency landing on the spot. Limited by factors such as indoor height and obstacles on the return path, the safety strategy of indoor drones is more complex and more necessary.

[0048] In view of the above problems, this implementation manner proposes an indoor drone power inspection method, which solves the safety problem during indoor inspection of drones in the prior art. This method is implemented through an indoor drone inspection system, which includes three parts: a drone, an airport, and a background control terminal. Among them, the drone is mainly responsible for perceiving indoor environment information and collecting inspection data, the airport is mainly responsible for the takeoff, landing, charging, startup, and shutdown control of the drone, and the background control terminal is responsible for issuing inspection tasks, receiving inspection data, setting inspection parameters, etc.

[0049] In the specific implementation process, visual SLAM, lidar SLAM, UWB, etc. can be used for indoor positioning of drones. No matter which positioning method is adopted, problems such as sensor failures and loss of positioning information may occur.

[0050] The indoor autonomous inspection operation of the drone is divided into two stages, namely the self-inspection and takeoff stage, and the inspection task execution stage. In the self-inspection and takeoff stage, the normal process for the drone to execute the inspection task is as follows: a. The background control system issues an inspection task; b. The airport activates the drone; c. The drone passes the self-inspection; d. Set the inspection parameters; e. The drone takes off.

[0051] Verification and detection strategies are proposed for each process in this stage. After the background control terminal issues an inspection task, a verification step for the flight route is added. The verification includes verification of file format, flight distance, and point position, including:

[0052] (1) Verification of file format, that is, whether the flight route of the issued inspection task is a flight route file executable by the drone;

[0053] (2) Verification of flight distance, that is, to judge whether the drone's battery life can meet the needs of completing the inspection task. The judgment formula is as follows:

[0054]

[0055] Among them, t is the time required for the flight route, l is the length of the flight route, v is the flight speed, a is the time of staying due to shooting at each waypoint, m is the number of waypoints. It is estimated that the time required for the drone from takeoff power to low battery warning is t_low. Then, when t > t_low, it is determined that the flight distance is too long and the verification fails. When t ≤ t_low, the verification passes.

[0056] (3) Verification of point position. First, match the route coordinates with the offline map saved in the background, and judge the distance between the route and surrounding obstacles. If the distance is less than or equal to 0.75m, the point position verification fails. If all distances are greater than 0.75m, the point position verification passes.

[0057] After the flight route verification passes, a failure retry mechanism is set for the three steps of process b (the airport activates the drone), process c (the drone passes the self-inspection), and process d (set the inspection parameters). After failure, report an exception to the background control system and retry. If the retry fails 3 times, it is determined that the task fails and the task exits.

[0058] After processes b (the airport activates the drone), c (the drone passes the self-check), and d (set the inspection parameters) are completed successfully, the drone takes off vertically to a height of 1.5 m. During the takeoff process, the drone senses the surrounding environmental information through the on-board sensors and matches it with the SLAM map. If the actual environment and the SLAM map still cannot be matched when the drone reaches 1.5 m, the mission mode will be exited and an anomaly will be reported. If the map matching is achieved, the inspection mission will start.

[0059] The processes in the inspection mission execution phase include: A. The drone passes through the waypoints in sequence and performs the corresponding waypoint actions; B. Return to the base; C. Land; D. Clamp and center and charge.

[0060] During process A (the drone passes through the waypoints in sequence and performs the corresponding waypoint actions), an emergency may force the drone to exit the mission. Since the position of the drone is uncertain at this moment, it may fall into a dead end of the local map and trigger obstacle avoidance, making it impossible to execute the next action smoothly. Therefore, this implementation provides an exit strategy for the drone to execute, as Figure 1 shown, including the following processes:

[0061] S1: After takeoff, pass through the waypoints in the set order of the inspection route and perform the corresponding waypoint actions. The waypoints include upper safety waypoints and lower safety waypoints;

[0062] S2: When the drone needs to exit the inspection mission, traverse all the waypoints to find the nearest upper safety waypoint and lower safety waypoint, and perform drone return or forced landing control based on the found upper safety waypoint and lower safety waypoint.

[0063] More specifically, first distinguish the waypoints: The first and last waypoints of the route are set 1.5 m directly above the indoor airport. When the route mission is executed normally, the drone will fly along the path preset by the route and finally land above the simple airport. Two fields, upper safety and lower safety, are added to the waypoint attributes; When there is a path allowing the drone to pass through directly connected to a point at any height above the airport after the waypoint is raised, the attribute of this waypoint is upper safety, that is, the upper safety waypoint; When the lower part of the waypoint is flat ground without equipment or obstacles, the attribute of this waypoint is lower safety, that is, the lower safety waypoint.

[0064] The safety strategy proposed in this implementation is as follows:

[0065] Strategy 1: The UAV traverses the waypoints along the route forwards and backwards, finds the nearest safe waypoint above, modifies the route to go from the current position along the original route to the safe waypoint above, ascends to the starting point of the direct path at the safe waypoint above, flies over the direct path to a certain height above the airport, descends to the last waypoint, and enters the next process;

[0066] Strategy 2: The UAV traverses the waypoints along the route forwards and backwards, finds the nearest safe waypoint below, modifies the route to go from the current position along the original route to the safe waypoint below, and makes an in-situ forced landing at this waypoint. After the forced landing, the UAV reports an abnormal route and ends;

[0067] Strategy 3: The UAV traverses the waypoints along the route forwards and backwards, finds a direction with a shorter path, modifies the route to the waypoints on the shorter path, cancels the camera actions and attitude angles of the waypoints, and returns along the new route.

[0068] Summarize the situations where the UAV may exit the task during the mission execution phase: receiving a return instruction, disconnecting from the airport, insufficient battery power, and UAV failure. For the situations where the UAV receives a return instruction, disconnects from the airport, or has insufficient battery power, give priority to returning through Strategy 1. If the route does not contain a safe waypoint above, then switch to execute Strategy 3. During the return process, monitor the battery power synchronously and calculate whether the remaining flight time can support the UAV to return to the airport. If not, then switch to execute Strategy 2; when the UAV fails, such as sensor failure, program hang, etc., directly make a forced landing through Strategy 2.

[0069] In the three processes of B (return), C (landing), and D (clamping, centering, and charging), since the last waypoint of the indoor inspection route is above the airport, the position of the UAV after executing the route is above the airport. To ensure that the UAV falls into the central area of the airport, use vision, SLAM, etc. to guide the UAV for precise landing. The process is as follows: Listen for whether the UAV reports an abnormal end of the route. If it reports, it means that the UAV has made a forced landing at the safe waypoint below and needs to be manually reset, and the airport is adjusted to the fault state. If it does not report an abnormal end of the route, the UAV is located 1.5 m directly above the airport after ending the route task, and guide the UAV for precise landing. Determine whether the UAV has landed in the airport by whether the charging is successful. If the charging is successful and starts charging, the task process ends. If the charging fails, it is determined that the UAV has not landed in the centering area. The airport issues a takeoff instruction, and the UAV takes off to a height of 1.5 m, first flies to the last point of the route, and makes a precise landing again. If the landing fails 3 times in a row and the charging still cannot be successfully started, it is determined that the airport is faulty and needs to be manually reset.

[0070] Embodiment 2:

[0071] As Figure 2 shown, this implementation provides an indoor UAV power inspection system, including:

[0072] The patrol control unit is configured to: after takeoff, sequentially pass through waypoints according to the set order of the patrol route and perform corresponding waypoint actions, where the waypoints include upper safety waypoints and lower safety waypoints;

[0073] The mission exit control unit is configured to: when the drone needs to exit the patrol mission, traverse all waypoints to find the nearest upper safety waypoint and lower safety waypoint, and perform drone return or forced landing control based on the found upper safety waypoint and lower safety waypoint.

[0074] For the detailed steps of the mission exit control unit, refer to the process in Embodiment 1 and will not be elaborated here.

[0075] It can be understood that the above-mentioned units can be separately or all combined into one or several other units to form, or some of them can be further split into multiple smaller units in terms of function to form, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above units are divided based on logical functions. In actual applications, the function of one unit can also be realized by multiple units, or the functions of multiple units can be realized by one unit. In other embodiments of the present application, the system can also include other units. In actual applications, these functions can also be assisted by other units and can be realized by the cooperation of multiple units.

[0076] According to another embodiment of the present application, the system described in this embodiment can be constructed by running a computer program (including program code) capable of executing the respective steps involved in the corresponding method described in Embodiment 1 on a general computing device such as a computer including processing elements and storage elements such as a central processing unit (CPU), a random access memory (RAM), and a read-only memory (ROM), and the method of Embodiment 1 of the present application can be realized. The computer program can be recorded on a computer-readable recording medium, for example, and loaded into the above computing device through the computer-readable recording medium and run therein.

[0077] Embodiment 3:

[0078] As Figure 3 shown, this implementation provides an electronic device, which includes a processor 1001, a communication interface 1002, and a computer-readable storage medium 1003. Among them, the processor 1001, the communication interface 1002, and the computer-readable storage medium 1003 can be connected through a bus or other means.

[0079] Among them, the communication interface 1002 is used to receive and send data. The computer-readable storage medium 1003 can be stored in the memory of the electronic device. The computer-readable storage medium 1003 is used to store computer programs. The computer programs include program instructions. The processor 1001 is used to execute the program instructions stored in the computer-readable storage medium 1003.

[0080] The processor 1001 (or CPU (Central Processing Unit)) is the computing core and control core of the electronic device. It is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions to implement the corresponding method flow or corresponding function.

[0081] The processor 1001 is configured to execute the following process:

[0082] After takeoff, sequentially pass through the waypoints in the set order of the inspection route, and execute the corresponding waypoint actions. The waypoints include upper safety waypoints and lower safety waypoints;

[0083] When the UAV needs to exit the inspection task, traverse all the waypoints, find the nearest upper safety waypoint and the lower safety waypoint, and perform UAV return or forced landing control according to the found upper safety waypoint and the lower safety waypoint.

[0084] For the detailed steps of the task exit control, see the process in Embodiment 1, which will not be elaborated here.

[0085] Embodiment 4:

[0086] This implementation provides a computer-readable storage medium (Memory). The computer-readable storage medium is a memory device in the electronic device, used to store programs and data. It can be understood that the computer-readable storage medium here can include both the built-in storage medium in the electronic device, and of course can also include the extended storage medium supported by the electronic device. The computer-readable storage medium provides a storage space, and this storage space stores the processing system of the electronic device.

[0087] And, one or more instructions suitable for being loaded and executed by the processor are also stored in this storage space. These instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory, or a non-volatile memory, such as at least one disk memory; optionally, it can also be at least one computer-readable storage medium located far from the aforementioned processor.

[0088] In one embodiment, one or more instructions are stored in the computer-readable storage medium; the one or more instructions stored in the computer-readable storage medium are loaded and executed by a processor to implement the following process:

[0089] After takeoff, sequentially pass through waypoints in the set order of the inspection route and perform corresponding waypoint actions, where the waypoints include upper safety waypoints and lower safety waypoints;

[0090] When the drone needs to exit the inspection task, traverse all waypoints to find the nearest upper safety waypoint and the nearest lower safety waypoint, and perform drone return or forced landing control based on the found upper safety waypoint and lower safety waypoint.

[0091] For the detailed steps of task exit control, see the process in Embodiment 1 and will not be elaborated here.

[0092] Embodiment 5:

[0093] This implementation provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the electronic device to perform the following process:

[0094] After takeoff, sequentially pass through waypoints in the set order of the inspection route and perform corresponding waypoint actions, where the waypoints include upper safety waypoints and lower safety waypoints;

[0095] When the drone needs to exit the inspection task, traverse all waypoints to find the nearest upper safety waypoint and the nearest lower safety waypoint, and perform drone return or forced landing control based on the found upper safety waypoint and lower safety waypoint.

[0096] For the detailed steps of task exit control, see the process in Embodiment 1 and will not be elaborated here.

[0097] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed in this application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but this implementation should not be considered to exceed the scope of this application.

[0098] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data processing device such as a server, data center, etc. that contains one or more integrated available media. The available media can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)), etc.

[0099] The foregoing is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An indoor UAV power inspection method, characterized in that: The process includes: After takeoff, the aircraft passes through the waypoints in the set order of the inspection route and performs corresponding waypoint actions, wherein the waypoints include an upper safety waypoint and a lower safety waypoint; When the UAV needs to exit the inspection mission, it traverses all waypoints to find the nearest upper safety waypoint and lower safety waypoint, and controls the UAV to return or make an emergency landing based on the found upper safety waypoint and lower safety waypoint.

2. The indoor UAV power inspection method according to claim 1, characterized in that: When a waypoint satisfies the requirement that there is a path that allows the drone to pass through and is directly connected to a point at any height above the airport after being elevated, the waypoint is defined as an upper safe waypoint; when a waypoint satisfies the requirement that there is flat ground below, no equipment or obstacles, the waypoint is defined as a lower safe waypoint.

3. The indoor UAV power inspection method according to claim 1 or 2, characterized in that: Drone return or forced landing control strategy, including: Strategy 1: The drone traverses the waypoints forward and backward along the route, finds the nearest upper safe waypoint, modifies the route to go from the current position along the original route to the upper safe waypoint, rises to the starting point of the straight path at the upper safe waypoint, flies over the straight path to a certain height above the airport, descends to the last waypoint, and enters the next process; Strategy 2: The drone traverses the waypoints forward and backward along the route, finds the nearest safe waypoint below, modifies the route to go from the current position along the original route to the safe waypoint below, and makes an emergency landing at the waypoint. After the emergency landing, the drone reports that the route has ended abnormally; Strategy 3: The drone traverses the waypoints forward and backward along the route, finds a direction with a shorter path, modifies the route to the waypoint on the shorter path, cancels the camera movement and attitude angle of the waypoint, and returns along the new route.

4. The indoor UAV power inspection method according to claim 3, characterized in that: If the drone receives a return command, is disconnected from the airport, or has insufficient battery power, it will return using Strategy 1. If the route does not include a safe waypoint above, Strategy 3 will be used. During the return process, the drone will monitor the battery power and calculate whether the remaining flight time supports the drone's return to the airport. If not, Strategy 2 will be used. When the drone malfunctions, it will make an emergency landing using Strategy 2.

5. The indoor UAV power inspection method according to claim 1, characterized in that: Before the UAV takes off, it also includes the UAV self-inspection and take-off control process, including: issuing inspection tasks, turning on the UAV, UAV self-inspection, setting inspection parameters and UAV take-off; among them, after issuing the inspection task, the route is verified, and the verification includes: file format verification, flight distance verification and point position verification.

6. The indoor UAV power inspection method according to claim 1, characterized in that: The inspection mission also includes the process of returning home, landing, clamping and returning to the center and charging: Monitor whether the drone reports an abnormal end of the route. If so, it means that the drone has made an emergency landing at a safe waypoint below and needs to be manually reset. The airport is adjusted to a fault state. If the abnormal end of the route is not reported, the drone will be located at the set height directly above the airport after completing the route mission, and the drone will be guided to perform a precise landing. Whether the drone has landed at the airport is determined by whether the charging is successful; If charging starts successfully, the mission process ends. If charging fails, it is determined that the drone has not landed in the return area. The airport issues a take-off command, and the drone takes off to the set altitude directly above, and first flies to the last point of the route, and then performs a precise landing again. If the charging cannot be successfully started after repeated landings for the set number of times, it is determined that the airport is faulty and needs to be manually reset.

7. An indoor UAV power inspection system, characterized in that: include: The drone, the airport and the backend control terminal, the backend control terminal is respectively connected to the drone controller and the airport controller, and the backend controller is used to issue inspection tasks, receive inspection data and set inspection parameters; The airport is used for starting up the drone, taking off and landing the drone, charging the drone, self-checking the drone, and shutting down the drone; The drone is configured to execute the indoor drone power inspection method described in any one of claims 1-6.

8. An indoor UAV power inspection system, characterized in that: include: The inspection control unit is configured to: after takeoff, sequentially pass through waypoints in the set order of the inspection route and perform corresponding waypoint actions, wherein the waypoints include an upper safety waypoint and a lower safety waypoint; The mission exit control unit is configured to: when the UAV needs to exit the inspection mission, traverse all waypoints, find the nearest upper safety waypoint and the lower safety waypoint, and control the UAV to return or make an emergency landing based on the found upper safety waypoint and the lower safety waypoint.

9. A computer device, characterized in that: include: a processor and a computer readable storage medium; a processor adapted to execute a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the indoor UAV power inspection method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing the indoor drone power inspection method according to any one of claims 1 to 6.

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