High slope inspection method based on unmanned aerial vehicle and unmanned aerial vehicle

Abstract

The invention provides a high slope inspection method based on an unmanned aerial vehicle and the unmanned aerial vehicle. The method comprises the following steps: acquiring an inspection position table of a high slope; for each slope section, generating a first flight path corresponding to the unmanned aerial vehicle according to the plurality of control points corresponding to the slope section, the first flight path comprising a plurality of waypoint positions in one-to-one correspondence with the control points; for each slope section, determining a target waypoint position meeting the slope flatness requirement based on a first image shot by the unmanned aerial vehicle at each waypoint position on a first flight path corresponding to the slope section, and determining a shooting angle and a shooting distance of the unmanned aerial vehicle based on the target waypoint position, and correcting the waypoint position in the first flight path according to the shooting distance to generate a second flight path, and controlling the unmanned aerial vehicle to inspect the slope section based on the second flight path. According to the invention, the unmanned aerial vehicle autonomously plans the flight path and optimizes the shooting angle and the shooting distance, so that the arrangement of auxiliary equipment is avoided, and full-automatic high slope inspection is realized.

Description

Technical Field

[0001] This application relates to the technical field of high slope detection. Specifically, it relates to a high slope inspection method based on an unmanned aerial vehicle and an unmanned aerial vehicle. Background Art

[0002] As a high-risk area for geological disasters, the daily inspection of surface displacement, cracks, and dangerous rocks on high slopes is crucial for disaster warning. The current mainstream inspection methods mainly rely on the combination of manual and fixed monitoring equipment: on the one hand, inspection personnel need to climb to steep and loose high-risk areas for visual inspection and equipment layout, which poses safety hazards such as falling and landslides. Moreover, manual judgment is easily affected by subjective experience and it is difficult to detect subtle cracks or deformations; on the other hand, monitoring equipment such as total stations, GNSS sensors, and crack meters need to be fixedly arranged for a long time, with high implementation costs and limited coverage. Usually, only a small number of monitoring points can be selected based on experience, resulting in large areas of detection blind spots. The equipment maintenance is complex and the monitoring position cannot be dynamically adjusted.

[0003] In recent years, although unmanned aerial vehicle technology has been gradually applied to slope detection, the existing solutions still have obvious defects: a large number of image control points or auxiliary equipment (such as ground laser rangefinders) need to be pre-arranged on the slope site, and manual on-site surveys are required to obtain the geometric parameters and risk levels of the slope, resulting in an extended operation preparation time and increased implementation costs. At the same time, there are still safety risks in the layout process of the auxiliary equipment itself. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a high slope inspection method based on an unmanned aerial vehicle and an unmanned aerial vehicle, aiming to overcome at least one of the above defects.

[0005] In a first aspect, this application provides a high slope inspection method based on an unmanned aerial vehicle. The method includes: obtaining an inspection position table of the high slope, where the high slope includes multiple slope segments, and the inspection position table includes multiple control points from the top to the bottom of each slope segment; for each slope segment, generating a first flight path corresponding to the unmanned aerial vehicle according to the multiple control points corresponding to the slope segment, where the first flight path includes multiple waypoint positions corresponding one-to-one to the control points; for each slope segment, based on the first images taken by the unmanned aerial vehicle at each waypoint position on the first flight path corresponding to the slope segment, determining target waypoint positions that meet the requirements of slope surface flatness, and based on the target waypoint positions, determining the shooting angle and shooting distance of the unmanned aerial vehicle, and correcting the waypoint positions in the first flight path according to the shooting distance to generate a second flight path, and controlling the unmanned aerial vehicle to inspect the slope segment based on the second flight path. Among them, at each waypoint position in the second flight path, controlling the unmanned aerial vehicle to take inspection images at the control point corresponding to the waypoint position at the shooting angle.

[0006] In a possible implementation, each slope section includes multiple slope surfaces, and a slope platform is formed between adjacent slope surfaces. The inspection position table includes coordinate information and position identifiers corresponding to each control point, and the position identifiers are used to indicate the positions of the control points in the slope section. In a possible implementation, the shooting angles include multiple first shooting angles and one second shooting angle. The second shooting angle is a preset angle. Among them, each slope surface corresponds to a first shooting angle, and all slope platforms correspond to the second shooting angle.

[0007] In a possible implementation, the target waypoint positions corresponding to each slope surface are determined in the following manner: (A) Control the UAV to hover at the i-th waypoint position in the first flight path corresponding to this slope surface; (B) For each angle within the preset angle range, control the UAV to take a corresponding first image at this angle; (C) Determine whether the slope surface at the control point corresponding to the i-th waypoint position meets the slope surface flatness requirement according to all the first images taken; (D) If it meets the requirement, determine the i-th waypoint position as the target waypoint position; (E) If it does not meet the requirement, let i = i + 1, and return to step (A).

[0008] In a possible implementation, a camera and a laser ranging component are provided on the UAV. Among them, step (B) includes: For each angle within the preset angle range, control the UAV to take a corresponding first image at this angle through the camera, and determine the straight-line distance between the UAV and this slope surface through the laser ranging component. Among them, the first shooting angle of the UAV on each slope surface is determined in the following manner: The angle corresponding to the minimum straight-line distance measured by the UAV at the target waypoint position corresponding to each slope surface is determined as the first shooting angle.

[0009] In a possible implementation, the shooting distance is determined by the following formula:

[0010] where D is the shooting distance, D precision is the preset detection accuracy, f sensor is the focal length of the lens of the camera, N x is the number of width pixels of the sensor of the lens, N y is the number of height pixels of the sensor, W sensor is the width of the sensor, H sensor is the height of the sensor.

[0011] In a possible implementation, the coordinate information of each control point includes three-dimensional coordinates, and each waypoint position includes longitude, latitude, and elevation values. Among them, the following method is used to generate the first flight path corresponding to the UAV according to multiple control points corresponding to each slope section: for each slope section, convert the three-dimensional coordinates of each control point in the slope section into longitude, latitude, and elevation values, and increase each converted elevation value by a safety height value to obtain the waypoint position corresponding to each control point, and generate the first flight path corresponding to the UAV according to each waypoint position.

[0012] In a second aspect, the present application provides a UAV, which includes: a reading module for obtaining an inspection position table of a high slope. The high slope includes multiple slope sections, and the inspection position table includes multiple control points from the top to the bottom of each slope section; a flight path generation module for generating a first flight path corresponding to the UAV for each slope section according to multiple control points corresponding to the slope section. The first flight path includes multiple waypoint positions; an attitude control module for determining a target waypoint position that meets the slope flatness requirement for each slope section based on the first image captured by the UAV at each waypoint position on the first flight path corresponding to the slope section, and determining the shooting angle and shooting distance of the UAV based on the target waypoint position, and correcting the waypoint positions in the first flight path according to the shooting distance to generate a second flight path; a flight path execution module for controlling the UAV to inspect the slope section based on the second flight path; an image processing module for controlling the UAV to capture an inspection image at the control point corresponding to each waypoint position in the second flight path at the shooting angle.

[0013] In a third aspect, the present application further provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps of the above method are executed.

[0014] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the above method are executed.

[0015] The beneficial effects of the high slope inspection solution based on the UAV of the present application are as follows: This solution realizes the fully automatic high slope inspection without the need for auxiliary equipment layout by the UAV independently planning the flight path and optimizing the shooting angle and shooting distance, and avoids the safety risks existing in the manual layout of auxiliary equipment.

[0016] To make the above objects, features, and advantages of the present application more obvious and understandable, the following provides preferred embodiments in conjunction with the accompanying drawings and describes them in detail as follows. Description of the Drawings

[0017] To more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0018] Figure 1 A flowchart of a high-slope inspection method based on an unmanned aerial vehicle provided by an embodiment of the present application; Figure 2 A schematic structural diagram of the unmanned aerial vehicle provided by an embodiment of the present application; Figure 3 A schematic diagram of a slope section of the high slope provided by an embodiment of the present application; Figure 4 A flowchart of determining the target waypoint positions corresponding to each slope surface provided by an embodiment of the present application; Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0019] To make the objects, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Usually, the components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by those skilled in the art without creative efforts belongs to the scope of protection of the present application.

[0020] First, the applicable application scenarios of the present application are introduced. The present application can be applied to high-slope detection.

[0021] It has been found through research that as a high-risk source of geological disasters, the daily inspection of surface displacement, cracks and dangerous rocks on high slopes is crucial. The current mainstream detection methods have significant defects: inspectors need to climb to steep and loose areas for operations, facing safety risks such as falling and landslides, and it is easy to miss fine cracks by manual visual inspection; at the same time, equipment such as total stations / GNSS sensors / crack meters need to be fixedly installed, with high implementation costs and limited coverage (only a small number of monitoring points can be set according to experience), there are large detection blind spots, the equipment maintenance is complex and the position cannot be dynamically adjusted. The drone-assisted inspection mode requires the pre-installation of image control points and ground laser rangefinders, and it is necessary to conduct on-site surveys of the geometric parameters (height / slope / surface area) and risk levels of the slopes manually, resulting in long operation preparation time and increased costs, and there are still safety risks during the installation process of auxiliary equipment, seriously restricting the large-scale application of drones in high-slope inspections.

[0022] Based on this, the embodiments of the present application provide a high-slope inspection method and a drone based on drones. By autonomously planning the flight path and optimizing the shooting angle and shooting distance of the drone, it is possible to achieve high-slope inspections without the installation of auxiliary equipment and full automation, avoiding the safety risks of manual survey operations.

[0023] Please refer to Figure 1 and 2 , Figure 1 which shows the flow chart of a high-slope inspection method provided by the embodiments of the present application, Figure 2 and Figure 1 which shows the structural schematic diagram of the drone provided by the embodiments of the present application. The following will introduce the high-slope inspection process based on drones provided by the embodiments of the present application in combination with Figure 2 : S101. Obtain the inspection position table of the high slope.

[0024] Here, the high slope includes multiple slope segments. Each slope segment is as Figure 3 shown. Figure 3 is a schematic diagram of a slope segment of the high slope provided by the embodiments of the present application. Each slope segment includes multiple slope surfaces, and there is a slope platform formed between adjacent slope surfaces. The inspection position table includes multiple control points marked as in Figure 3 from the top to the bottom of each slope segment. The inspection position table includes the coordinate information and position identifier corresponding to each control point. The position identifier is used to indicate the structural part where the control point is located in the slope segment (such as the top of the slope / slope surface / slope platform / bottom of the slope), and the coordinate information is the XYZ coordinates relative to the reference point in the rectangular coordinate system, indicating the actual three-dimensional spatial position of the control point on the slope segment.

[0025] Specifically, in this application, an unmanned aerial vehicle (UAV) 10 is used to conduct inspection operations on high slopes. The UAV 10 of this application includes a reading module 11, a flight path generation module 21, an attitude control module 31, a flight path execution module 41, and an image processing module 51.

[0026] Here, the reading module 11 includes a drawing reading sub-module and a control point processing sub-module. The drawing reading sub-module is used to automatically read the design CAD drawing of the high slope to obtain the design reference points of the high slope and the coordinate information of the control points of the high slope and generate an inspection position table. The reading module 11 also supports the ability to read PDF drawings, and reads the coordinate information and position identifiers of the reference points and control points in the design CAD drawing through optical character recognition technology. The control point processing sub-module is used to convert the coordinate information of the design reference points and control points of the high slope to adapt to the spatial position data structure recognizable by the UAV 10, that is, to convert the coordinate information of each control point into the latitude, longitude, and elevation values recognizable by the UAV 10. Here, the coordinate information of the control points is represented by the XYZ coordinates relative to the reference point in the rectangular coordinate system.

[0027] The flight path generation module 21 is used to generate a first flight path for the UAV 10 to inspect the high slope according to the converted latitude, longitude, and elevation values of each control point by the control point processing sub-module. Specifically, a safety height value, preferably 10 meters, is added to each converted elevation value to ensure flight safety, so as to obtain the waypoint positions corresponding to each control point. Then, a first flight path for the UAV 10 to fly for slope inspection is generated according to each processed waypoint position.

[0028] The attitude control module 31 is used to adjust the shooting angle of the UAV 10 by controlling the pitch angle of the gimbal of the UAV 10, and analyze each first image through the embedded intelligent recognition function of the slope surface state to identify whether the slope surface of each control point is flat (whether there is deep and dense vegetation, large dangerous rocks, etc.).

[0029] The flight path execution module 41 is used to drive the UAV 10 to take inspection images at the control points corresponding to each waypoint position during the inspection process.

[0030] The image processing module 51 is used to receive the inspection images taken by the UAV 10 and analyze and process them for subsequent safety hazards related to the high slope.

[0031] Return Figure 1, before conducting the inspection tour, it is necessary to pre-check the equipment in the drone 10, especially to check the functions of the camera, gimbal, RTK (Real - time kinematic), and laser ranging components of the drone 10 to ensure that all are normal, so as to ensure that the drone 10 is in good condition, and input the preset detection accuracy required for the drone 10 to conduct the inspection tour, such as centimeter level, millimeter level, etc. It should be noted that the higher the detection accuracy, the closer the flight distance of the drone 10 to the high slope, the longer the corresponding detection time, and there is also a certain risk of touching obstacles or even crashing the drone. Therefore, the detection accuracy is generally not higher than the millimeter level.

[0032] After that, after the operator confirms that the information in the inspection location table is correct, compare whether the coordinate system currently adopted by the drone 10 to be executed for the flight task is consistent with the coordinate system of the reference points and coordinate information in the design CAD drawing. If not, further convert the reference points and coordinate information in the design CAD drawing into the corresponding longitude, latitude, and elevation values recognizable by the drone 10. The corresponding coordinate conversion is calculated according to the following formula:

[0033] Among them, X slope , Y slope , Z slope are the coordinates in the CAD drawing coordinate system, R is the rotation matrix, ∆x, ∆y, ∆ z is the position of the origin of the coordinate system in the CAD drawing in the coordinate system of the drone 10, X drone , Y drone , Z drone are the coordinates in the coordinate system of the drone 10.

[0034] S102. For each slope section, generate the first flight path corresponding to the drone according to the multiple control points corresponding to the slope section.

[0035] Here, the first flight path includes multiple waypoint positions corresponding one by one to each control point.

[0036] For each slope section, increase the converted elevation value by the safety height value, preferably 10 meters, to ensure flight safety, so as to obtain the waypoint position corresponding to each control point. Then, generate the first flight path for the drone 10 to fly for slope inspection according to each waypoint position. During the process of the drone 10 flying according to the first flight path, the flight mode is set such that the nose of the drone 10 points perpendicular to the horizontal line at the top of the slope, the pitch angle of the gimbal is set to 0 degrees, the shooting lens uses a wide - angle camera, and the zoom ratio is set to 1 - fold zoom.

[0037] S103. For each slope section, based on the first image captured by the UAV at each waypoint position on the first flight path corresponding to the slope section, determine the target waypoint position that meets the slope surface flatness requirement, and determine the shooting angle and shooting distance of the UAV based on the target waypoint position, correct the waypoint position in the first flight path according to the shooting distance to generate a second flight path, and control the UAV to inspect the slope section based on the second flight path, wherein at each waypoint position in the second flight path, control the UAV to capture an inspection image at the control point corresponding to the waypoint position at a shooting angle.

[0038] The present application aims at the differences in terrain features between the slope surface and the slope platform in each slope section, and constructs independent methods for determining shooting angles for the slope surface and the slope platform respectively. Specifically, the slope surface usually has a significant inclination angle, and the inclination angles of different slope surfaces are different. Therefore, for each slope surface, the shooting angle determination method designed by the present application needs to focus on the inclination angle of each slope surface to determine the corresponding shooting angle. The slope platform presents a relatively flat or gentle slope (close to the horizontal plane). If the shooting angle of the slope surface is used (such as too large an angle of depression), it may be impossible to effectively observe the entire platform due to viewing angle problems. Therefore, for each slope platform, the present application adopts a fixed shooting angle for shooting.

[0039] Specifically, the shooting angle of each slope section includes multiple first shooting angles and one second shooting angle, wherein each slope surface corresponds to a first shooting angle, that is, different slope surfaces correspond to different shooting angles, and all slope platforms correspond to the second shooting angle, and the one second shooting angle is a preset angle, preferably -90 degrees, that is, the shooting angle of all slope platforms is -90 degrees.

[0040] For each slope, based on the target waypoint position corresponding to the slope of the drone 10, the attitude control module 31 determines the first shooting angle and shooting distance of the drone 10, and corrects the waypoint position in the first flight path according to the shooting distance of the slope to generate a second flight path, and controls the drone 10 to inspect the slope based on the second flight path.

[0041] Below through Figure 4 This paper introduces the specific process of determining the target waypoint position corresponding to each slope surface.

[0042] Figure 4 A flowchart for determining the target waypoint position corresponding to each slope surface provided in an embodiment of the present application.

[0043] S201, controlling the UAV to fly to and hover at the i-th waypoint position in the first flight path corresponding to the slope.

[0044] S202. For each angle within the preset angle range, control the drone to capture the corresponding first image at that angle.

[0045] Here, the drone 10 adjusts the pitch angle of the gimbal so that the drone can traverse each angle within the preset angle range.

[0046] Specifically, the preset angle range is that the pitch angle of the gimbal looks down from 0 degrees to -90º. For each angle within the preset angle range, control the drone 10 to capture the corresponding first image at that angle through the lens, and determine the linear distance value between the drone 10 and the slope through the laser ranging component.

[0047] S203. According to all the first images captured, determine whether the slope at the control point corresponding to the i-th waypoint position meets the slope flatness requirement.

[0048] Here, i starts from 1, that is, the control point corresponding to the first waypoint position in the first flight path of the drone 10 on the slope.

[0049] If it meets the requirement, execute step S204: Determine the i-th waypoint position as the target waypoint position.

[0050] If it does not meet the requirement, execute step S205: Let i = i + 1, and determine whether i is greater than the total number of all waypoint positions on the slope.

[0051] If it is greater, end the process.

[0052] If it is not greater, return to step S201.

[0053] For each slope, after determining the target waypoint position, determine the angle corresponding to the minimum distance value measured by the drone 10 at the target waypoint position as the first shooting angle corresponding to the slope.

[0054] Here, after determining the target waypoint position where the slope is relatively flat, the attitude control module 31 compares and determines the pitch angle of the gimbal corresponding to the minimum linear distance when the pitch angle of the gimbal changes from 0 degrees to -90 degrees by real-time reading of each linear distance obtained by the laser ranging component in the gimbal, and records it as the best pitch angle α of the gimbal, that is, the first shooting angle corresponding to the slope. At this time, at the first shooting angle, the camera of the drone 10 is basically perpendicular to the slope for shooting, and the shooting effect of the drone 10 is the best in this attitude.

[0055] For each slope platform, instead of determining the target waypoint position to determine the second shooting angle, the pitch angle of the gimbal of the UAV 10 is directly adjusted to -90º, and when the second shooting angle is -90º, the shooting distance of the slope platform is calculated through the above calculation process of calculating the shooting distance of the slope surface or slope platform, and the longitude, latitude and elevation values of the waypoint positions in the first flight path are corrected according to the shooting distance of the slope platform to generate a second flight path, and the UAV 10 is controlled to perform inspection on the slope platform based on the second flight path through the route execution module 41.

[0056] Next, after finding the best pitch angle α of the gimbal, that is, the shooting angle, on the slope surface or slope platform, it is also necessary to find an optimal shooting distance from the UAV 10 to the slope surface or slope platform at this shooting angle according to the preset detection accuracy preset in the UAV 10 to achieve a better shooting effect.

[0057] Specifically, the shooting distance is determined by the following formula:

[0058] where D is the shooting distance, D precision is the preset detection accuracy, f sensor is the focal length of the lens, N x is the number of width pixels of the sensor of the lens, N y is the number of height pixels of the sensor, W sensor is the width of the sensor, H sensor is the height of the sensor.

[0059] For each slope section, after the UAV 10 finishes inspecting each slope surface and each slope platform of the slope section and reaches the toe of the slope section, the shooting angle corresponding to the toe of the slope is still determined according to the method of the slope surface, and the shooting distance is determined to obtain the second flight path corresponding to the toe of the slope, and the subsequent inspection of the toe of the slope is realized through the route execution module 41, which will not be elaborated here.

[0060] Next, after each waypoint position in each first flight path is corrected to obtain the second flight path, the UAV 10 is controlled to fly back to the first waypoint position of the second flight path to start the inspection. At each waypoint position in the second flight path, the UAV 10 is controlled by the route execution module 41 to take inspection images at the corresponding shooting angle at the control point corresponding to the waypoint position. Here, when the UAV 10 hovers at each waypoint position in each second flight path, the pitch angle of the gimbal of the UAV 10 is adjusted from 0 to the corresponding pitch angle α, that is, the shooting angle, and the default single-shot mode in the flight mode of the first flight path is changed to the oblique shooting mode, that is, 3 inspection images are taken at each waypoint, corresponding to the gimbal pitch angles of α - 15º, α, and α + 15º respectively, so as to achieve synchronous shooting once for each small upward and downward tilt, in order to better cover the inspection details of the high slope, such as the fine cracks on the slope that are not easy to find, the details of the dangerous rocks on the slope. In addition, if α - 15º is less than -90º, some UAVs 10 cannot support it. In this case, the attitude control module of the waypoint UAV 10 automatically changes α - 15º to -90º to ensure that the UAV 10 can normally execute the route.

[0061] It should be noted that in this application, when targeting the first slope surface at the highest position within a certain slope section, the first flight path of this slope surface is first generated to determine the shooting angle and shooting distance, and accordingly the corresponding second flight path is generated. Subsequently, the UAV 10 flies along this second flight path, arrives at each waypoint position in turn, and takes inspection images of each control point on this slope surface. After completing the shooting of the current slope surface, the UAV 10 immediately turns to the slope platform connected to this slope section and repeats the above operations (generating the first flight path, determining the shooting angle and shooting distance, generating the second flight path and flying, taking inspection images at all control points). Then, the above operations are performed on the next slope surface. This process (that is, performing the above operations on each slope surface, each slope platform, and the slope foot within the slope section in turn) will continue until all slope surfaces, slope platforms, and slope feet in this slope section have completed the inspection image shooting. After that, the UAV 10 will start to execute the same process for the next slope section, and so on, until all slope sections of the high slope to be inspected and their corresponding all control points have completed the shooting. Through the image processing module 51, all high-definition inspection images of each slope section of the high slope are wirelessly transmitted to the slope management platform by using the 4G / 5G wireless transmission method or directly copy the data from the SD card of the UAV 10 to the slope management platform, providing basic high-slope image data for subsequent intelligent identification technology or manual review based on slope hidden dangers.

[0062] Please refer to Figure 5 , Figure 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 5As shown in the figure, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.

[0063] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 runs, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the steps of the drone-based high-slope inspection method in the above method embodiment can be executed. For the specific implementation manner, reference can be made to the method embodiment and will not be elaborated here.

[0064] The embodiment of the present application also provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the steps of the above drone-based high-slope inspection method can be executed. For the specific implementation manner, reference can be made to the method embodiment and will not be elaborated here.

[0065] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0066] In several embodiments provided by the present application, 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 the units is only a logical function 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 mutual coupling or direct coupling or communication connection can be through some communication interfaces. The indirect coupling or communication connection of the devices or units can be in an electrical, mechanical, or other form.

[0067] 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 they can be 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.

[0068] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0069] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0070] Finally, it should be noted that the above-mentioned embodiments are only specific implementation manners of the present application, used to illustrate the technical solutions of the present application, rather than limiting them. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present application can still modify the technical solutions recorded 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 application, and should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A high-slope inspection method based on drones, characterized in that, The method includes: Obtaining an inspection position table of a high slope, where the high slope includes multiple slope segments, and the inspection position table includes multiple control points from the top to the bottom of each slope segment; For each slope segment, generating a first flight path corresponding to the drone according to the multiple control points corresponding to the slope segment, where the first flight path includes multiple waypoint positions corresponding one by one to the control points; For each slope segment, based on the first images taken by the drone at each waypoint position on the first flight path corresponding to the slope segment, determining the target waypoint positions that meet the requirements of the slope surface flatness, and based on the target waypoint positions, determining the shooting angle and shooting distance of the drone, and correcting the waypoint positions in the first flight path according to the shooting distance to generate a second flight path, and controlling the drone to perform inspections on the slope segment based on the second flight path. Wherein, at each waypoint position in the second flight path, controlling the drone to take inspection images of the control point corresponding to the waypoint position at the shooting angle.

2. The method according to claim 1, wherein Each slope segment includes multiple slope surfaces, and a slope platform is formed between adjacent slope surfaces. The inspection position table includes the coordinate information and position identifier corresponding to each control point, and the position identifier is used to indicate the position of the control point in the slope segment.

3. The method according to claim 2, characterized in that, The shooting angle includes multiple first shooting angles and one second shooting angle, and the second shooting angle is a preset angle. Wherein, each slope surface corresponds to a first shooting angle, and all slope platforms correspond to the second shooting angle.

4. The method according to claim 2, wherein The target waypoint position corresponding to each slope surface is determined by the following method: (A) Controlling the drone to hover at the i-th waypoint position in the first flight path corresponding to the slope surface; (B) For each angle within the preset angle range, controlling the drone to take a corresponding first image at the angle; (C) According to all the first images taken, determining whether the slope surface at the control point corresponding to the i-th waypoint position meets the requirements of the slope surface flatness; (D) If it meets the requirements, determining the i-th waypoint position as the target waypoint position; (E) If it does not meet the requirements, making i = i + 1, and returning to step (A).

5. The method according to claim 4, characterized in that, A camera and a laser ranging component are provided on the drone. Wherein, step (B) includes: For each angle within the preset angle range, controlling the drone to take a corresponding first image at the angle through the camera, and determining the straight-line distance between the drone and the slope surface through the laser ranging component. Wherein, the first shooting angle of the drone on each slope surface is determined by the following method: Determining the angle corresponding to the minimum straight-line distance measured by the drone at the target waypoint position corresponding to each slope surface as the first shooting angle.

6. The method according to claim 5, characterized in that, The shooting distance is determined by the following formula: Among them, D is the shooting distance, D precision is the preset detection accuracy, f sensor is the focal length of the lens of the camera, N x is the number of width pixels of the sensor of the lens, N y is the number of height pixels of the sensor, W sensor is the width of the sensor, H sensor is the height of the sensor.

7. The method according to claim 1, characterized in that, The coordinate information of each control point includes three-dimensional coordinates, and each waypoint position includes longitude, latitude and elevation values. Wherein, the first flight path corresponding to the drone is generated by the following method according to the multiple control points corresponding to each slope segment: For each slope section, convert the three-dimensional coordinates of each control point in this slope section into longitude, latitude and elevation values, and increase each converted elevation value by a safety height value to obtain the waypoint positions corresponding to each control point, and generate the first flight path corresponding to the drone according to each waypoint position.

8. A drone, characterized in that, The drone includes: A reading module, configured to obtain an inspection position table of a high slope, the high slope includes a plurality of slope sections, and the inspection position table includes a plurality of control points from the top to the bottom of each slope section; A flight path generation module, configured to, for each slope section, generate a first flight path corresponding to the drone according to the plurality of control points corresponding to this slope section, and the first flight path includes a plurality of waypoint positions; An attitude control module, configured to, for each slope section, based on the first images captured by the drone at each waypoint position on the first flight path corresponding to this slope section, determine a target waypoint position that meets the requirements of the slope surface flatness, and determine the shooting angle and shooting distance of the drone based on the target waypoint position, and correct the waypoint positions in the first flight path according to the shooting distance to generate a second flight path; A flight path execution module, configured to control the drone to inspect this slope section based on the second flight path; An image processing module, configured to, at each waypoint position in the second flight path, control the drone to capture an inspection image at the control point corresponding to this waypoint position at the shooting angle.

9. An electronic device, characterized in that, including: A processor, a memory and a bus, the memory stores machine-readable instructions executable by the processor, when the electronic device runs, the processor communicates with the memory through the bus, and the processor executes the machine-readable instructions to perform the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is run by the processor, it performs the steps of the method according to any one of claims 1 to 7.

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