A high slope inspection method based on drone and drone

Abstract

The present application provides a high-slope inspection method and drone based on a drone, the method comprising: obtaining an inspection position table for the high slope; for each slope section, generating a first flight path corresponding to the drone based on multiple control points corresponding to the slope section, the first flight path including multiple waypoint positions corresponding one-to-one to each control point; for each slope section, determining a target waypoint position that meets the slope surface flatness requirements based on a first image captured by the drone at each waypoint position on the first flight path corresponding to the slope section, determining the drone's shooting angle and shooting distance based on the target waypoint position, correcting the waypoint position in the first flight path based on the shooting distance to generate a second flight path, and controlling the drone to inspect the slope section based on the second flight path. The present application achieves fully automatic high-slope inspection without the need for auxiliary equipment deployment by autonomously planning the flight path and optimizing the shooting angle and shooting distance of the drone.

Description

Technical Field

[0001] The present application relates to the technical field of high slope detection, and in particular to a high slope inspection method based on a drone and a drone. Background Art

[0002] As high-risk areas for geological hazards, routine inspections of surface displacement, cracks, and dangerous rock formations on high slopes are crucial for disaster early warning. Current mainstream inspection methods rely primarily on a combination of manual labor and fixed monitoring equipment. On the one hand, inspectors must climb steep, loose, high-risk areas for visual inspections and equipment deployment, posing safety risks such as falls and landslides. Furthermore, manual judgment is easily influenced by subjective experience, making it difficult to detect subtle cracks or deformations. On the other hand, monitoring equipment such as total stations, GNSS sensors, and crack meters require long-term fixed deployments, resulting in high implementation costs and limited coverage. Typically, only a small number of monitoring points can be selected based on experience, resulting in large blind spots. Equipment maintenance is complex, and dynamic adjustment of monitoring positions is impossible.

[0003] In recent years, although drone technology has been gradually applied to slope inspection, 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-deployed on the slope site, and manual field surveys are required to obtain slope geometric parameters and risk levels, which leads to longer operation preparation time and increased implementation costs. At the same time, the deployment process of auxiliary equipment itself still has safety risks. Summary of the Invention

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

[0005] In a first aspect, the present application provides a high slope inspection method based on a drone, the method comprising: obtaining an inspection position table of the high slope, the high slope comprising multiple slope sections, the inspection position table comprising multiple control points in each slope section from the top to the foot of the slope; for each slope section, generating a first flight path corresponding to the drone based on the multiple control points corresponding to the slope section, the first flight path comprising multiple waypoint positions corresponding one to one to each control point; for each slope section, determining a target waypoint position that meets the slope flatness requirements based on a first image captured by the drone at each waypoint position on the first flight path corresponding to the slope section, determining a shooting angle and shooting distance of the drone based on the target waypoint position, correcting the waypoint position in the first flight path according to the shooting distance to generate a second flight path, and controlling the drone to inspect the slope section based on the second flight path, wherein, at each waypoint position in the second flight path, the drone is controlled to capture an inspection image at the control point corresponding to the waypoint position at the shooting angle.

[0006] In one possible embodiment, each slope section includes multiple slope surfaces, and a side 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 identifier is used to indicate the position of the control point in the slope section.

[0007] In a possible implementation, the shooting angle includes multiple first shooting angles and one second shooting angle, where 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.

[0008] In one possible embodiment, the target waypoint position corresponding to each slope surface is determined by: (A) controlling the UAV to fly to and hover at the i-th waypoint position in the first flight path corresponding to the slope surface; (B) for each angle within a preset angle range, controlling the UAV to capture the corresponding first image at the angle; (C) determining, based on all captured first images, whether the slope surface at the control point corresponding to the i-th waypoint position meets the slope surface flatness requirement; (D) if so, determining the i-th waypoint position as the target waypoint position; (E) if not, setting i=i+1 and returning to step (A).

[0009] In one possible embodiment, the drone is provided with a camera and a laser ranging component, wherein step (B) includes: for each angle within a preset angle range, controlling the drone to capture a corresponding first image at the angle via the camera, and determining the straight-line distance between the drone and the slope surface via the laser ranging component, wherein the first shooting angle of the drone at each slope surface is determined by 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.

[0010] In a possible implementation, the shooting distance is determined by the following formula:

[0011]

[0012] Where D is the shooting distance, D precision is the preset detection accuracy, f sensor is the focal length of the camera lens, N x N is the width of the lens sensor in pixels. y is the height pixel number of the sensor, W sensor is the width of the sensor, H sensor is the height of the sensor.

[0013] In one possible embodiment, 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 UAV is generated according to the multiple control points corresponding to each slope section in the following manner: for each slope section, the three-dimensional coordinates of each control point of the slope section are converted into longitude, latitude and elevation values, and each converted elevation value is increased by a safety height value to obtain the waypoint position corresponding to each control point, and the first flight path corresponding to the UAV is generated according to each waypoint position.

[0014] In a second aspect, the present application provides a drone, comprising: a reading module for obtaining an inspection position table of a high slope, the high slope comprising multiple slope sections, the inspection position table comprising multiple control points from the top to the foot of each slope section; a route generation module for generating a first flight path corresponding to the drone for each slope section based on multiple control points corresponding to the slope section, the first flight path comprising multiple waypoint positions; an attitude control module for determining, for each slope section, a target waypoint position that meets the slope flatness requirements based on a first image captured by the drone at each waypoint position on the first flight path corresponding to the slope section, and determining a shooting angle and shooting distance of the drone 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; a route execution module for controlling the drone to inspect the slope section based on the second flight path; and an image processing module for controlling the drone to capture an inspection image at each waypoint position in the second flight path at the shooting angle at the control point corresponding to the waypoint position.

[0015] In a third aspect, the present application also provides an electronic device comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the above method are performed.

[0016] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are executed.

[0017] The beneficial effects of the high slope inspection solution based on drones in this application are as follows:

[0018] This solution uses drones to autonomously plan flight paths and optimize shooting angles and distances, achieving fully automatic high-slope inspections without the need for auxiliary equipment deployment, thus avoiding the safety risks of manually deploying auxiliary equipment.

[0019] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A flowchart of a high slope inspection method based on a drone provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of the structure of the drone provided in the embodiment of the present application;

[0023] Figure 3 A schematic diagram of a slope section of a high slope provided in an embodiment of the present application;

[0024] Figure 4 A flowchart for determining the target waypoint position corresponding to each slope surface provided in an embodiment of the present application;

[0025] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally 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 application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0027] First, the application scenarios to which this application is applicable are introduced. This application can be applied to high slope detection.

[0028] Research has found that high slopes are a high-risk source for geological hazards, so daily inspections of surface displacement, cracks, and dangerous rock are crucial. Current mainstream inspection methods have significant flaws: inspectors must climb into steep, loose areas, exposing themselves to safety risks such as falls and landslides, and manual visual inspections can easily miss fine cracks. Furthermore, equipment such as total stations, GNSS sensors, and crack meters require fixed deployment, resulting in high implementation costs and limited coverage (only a small number of monitoring points can be set based on experience). This creates large blind spots, complicates equipment maintenance, and prevents dynamic position adjustment. Drone-assisted inspections require the pre-deployment of image control points and ground-based laser rangefinders, and manual field surveys of slope geometry (height, slope, surface area) and risk levels. This results in long preparation times and increased costs, and the deployment of auxiliary equipment still presents safety risks, severely restricting the large-scale application of drones in high-slope inspections.

[0029] Based on this, the embodiment of the present application provides a high slope inspection method and drone based on drones. By autonomously planning the flight path and optimizing the shooting angle and shooting distance, the drone can realize fully automatic high slope inspection without the need for auxiliary equipment deployment, thereby avoiding the safety risks of manual survey operations.

[0030] See also Figure 1 and 2 , Figure 1 The flowchart of a high slope inspection method based on a drone provided in an embodiment of the present application is shown. Figure 2 The following is a schematic diagram of the structure of the drone provided in the embodiment of the present application. Figure 1 and Figure 2 To introduce the high slope inspection process based on drones provided in the embodiment of the present application:

[0031] S101. Obtain an inspection location table for a high slope.

[0032] Here, the high slope includes multiple slope sections, each of which is as follows: Figure 3 As shown, Figure 3 This is a schematic diagram of a slope section of a high slope provided in an embodiment of the present application. Each slope section includes multiple slope surfaces, and a slope platform is formed between adjacent slope surfaces. The inspection position table includes the following information from the top to the foot of each slope section: Figure 3 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 position of the control point in the slope section (such as slope top / slope surface / slope platform / slope foot). The coordinate information is the XYZ coordinate relative to the reference point in the rectangular coordinate system, indicating the actual three-dimensional spatial position of the control point on the slope section.

[0033] Specifically, the present application uses a drone 10 to perform inspection operations on high slopes. The drone 10 of the present application includes a reading module 11, a route generation module 21, a posture control module 31, a route execution module 41 and an image processing module 51.

[0034] Here, the reading module 11 includes a drawing reading submodule and a control point processing submodule. The drawing reading submodule is used to automatically read the design CAD drawings of the high slope to obtain the coordinate information of the design reference points and 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 identification of the reference points and control points in the design CAD drawings through text recognition technology. The control point processing submodule 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 that the drone 10 can recognize, that is, to convert the coordinate information of each control point into latitude, longitude and elevation values that the drone 10 can recognize. Here, the coordinate information of the control point is expressed in the XYZ coordinates relative to the reference point in the rectangular coordinate system.

[0035] The route generation module 21 is used to generate a first flight path for the UAV 10 to perform high slope inspections based on the latitude, longitude and elevation values converted by each control point of the control point processing submodule. Specifically, each converted elevation value is increased by a safety height value, preferably 10 meters, to ensure flight safety, so as to obtain the waypoint position corresponding to each control point, and then the first flight path for the UAV 10 to perform slope inspections is generated based on each processed waypoint position.

[0036] The attitude control module 31 is used to adjust the shooting angle of the drone 10 by controlling the pitch angle of the gimbal of the drone 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, whether there are large dangerous rocks, etc.).

[0037] The route execution module 41 is used to drive the drone 10 to capture inspection images at the control point corresponding to each waypoint position during the inspection process.

[0038] The image processing module 51 is used to receive the inspection images taken by the drone 10 and analyze and process the subsequent high-slope related safety hazards based on the inspection images.

[0039] return Figure 1Before conducting an inspection, it is necessary to pre-check the equipment in the drone 10, especially the camera, gimbal, RTK (Real-time kinematic) system, and laser ranging components. This ensures that the drone 10 is in good condition and that the preset inspection accuracy required for the inspection is entered, such as centimeters or millimeters. It should be noted that the higher the inspection accuracy, the closer the drone 10 must fly to the high slope, the longer the inspection time, and the risk of hitting obstacles or even causing the drone to crash. Therefore, inspection accuracy is generally not higher than millimeters.

[0040] After the operator confirms that the information in the inspection position table is correct, the operator compares the coordinate system currently used by the UAV 10 to perform the flight mission with the coordinate system used by the reference points and coordinate information in the design CAD drawing to see if they are consistent. If not, the reference points and coordinate information in the design CAD drawing are further converted into corresponding latitude, longitude and elevation values that can be recognized by the UAV 10. The corresponding coordinate conversion is calculated according to the following formula:

[0041]

[0042] Among them, X slope , Y slope , Z slope is the coordinate in the CAD drawing coordinate system, R is the rotation matrix, ∆x, ∆y, ∆ z X is the position of the origin of the coordinate system in the CAD drawing in the UAV 10 coordinate system, drone , Y drone , Z drone is the coordinate in the coordinate system of the UAV 10.

[0043] S102: For each slope section, generate a first flight path corresponding to the UAV according to multiple control points corresponding to the slope section.

[0044] Here, the first flight path includes a plurality of waypoint positions corresponding one-to-one to each control point.

[0045] For each slope section, each converted elevation value is increased by a safety height value, preferably 10 meters, to ensure flight safety, so as to obtain the waypoint position corresponding to each control point, and then a first flight path for the UAV 10 to perform slope inspection is generated according to each waypoint position, wherein the flight mode of the UAV 10 during the flight according to the first flight path is set to that the nose of the UAV 10 is pointed perpendicular to the horizontal line of the slope top, 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 1x zoom.

[0046] 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 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, the UAV is controlled to capture an inspection image at the control point corresponding to the waypoint position at a shooting angle.

[0047] This application addresses the differences in terrain features between the slope surface and the side slope platform in each slope section, and constructs independent shooting angle determination methods for the slope surface and the side slope platform. 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 this application needs to focus on the inclination angle of each slope surface to determine the corresponding shooting angle. The side slope platform has a relatively flat or gentle slope (close to the horizontal plane) feature. If the shooting angle of the slope surface is used (such as an excessively large depression angle), the entire platform may not be effectively observed due to viewing angle problems. Therefore, for each side slope platform, this application adopts a fixed shooting angle for shooting.

[0048] 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 second shooting angles are all preset angles, preferably -90 degrees, that is, the shooting angles of all slope platforms are -90 degrees.

[0049] For each slope surface, based on the target waypoint position corresponding to the slope surface 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 surface to generate a second flight path, and controls the drone 10 to inspect the slope surface based on the second flight path.

[0050] Below through Figure 4 This paper introduces the specific process of determining the target waypoint position corresponding to each slope surface.

[0051] Figure 4 A flowchart for determining the target waypoint position corresponding to each slope surface provided in an embodiment of the present application.

[0052] S201: Control the UAV to fly to and hover at the i-th waypoint position in the first flight path corresponding to the slope.

[0053] S202: For each angle within the preset angle range, control the drone to capture a corresponding first image at the angle.

[0054] Here, the drone 10 adjusts the pitch angle of the gimbal so that the drone can travel through every angle within a preset angle range.

[0055] Specifically, the preset angle range is the pitch angle of the gimbal from 0 degrees looking down to -90 degrees. For each angle within the preset angle range, the drone 10 is controlled to capture the corresponding first image at the angle through the lens, and the straight-line distance value between the drone 10 and the slope is determined through the laser ranging component.

[0056] S203: Determine, based on all captured first images, whether the slope surface at the control point corresponding to the i-th waypoint position meets the slope surface flatness requirement.

[0057] Here, i starts from 1, which is the control point corresponding to the first waypoint position of the UAV 10 in the first flight path of the slope.

[0058] If so, step S204 is executed: the i-th waypoint position is determined as the target waypoint position.

[0059] If not, step S205 is executed: let i=i+1, and determine whether i is greater than the total number of all waypoint positions on the slope.

[0060] If it is greater, the process ends.

[0061] If not, return to step S201.

[0062] For each slope, after the target waypoint position is determined, the angle corresponding to the minimum distance value measured by the drone 10 at the target waypoint position is determined as the first shooting angle corresponding to the slope.

[0063] Here, after determining the target waypoint position on a relatively flat slope, the attitude control module 31 reads each straight-line distance obtained by the laser ranging component in the gimbal in real time, and compares and determines that when the pitch angle of the gimbal changes from 0 degrees to -90 degrees, the gimbal pitch angle corresponding to the minimum straight-line distance is recorded as the optimal 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 drone 10 has the best shooting effect under this attitude.

[0064] For each slope platform, the second shooting angle is no longer determined by determining the target waypoint position. Instead, the pitch angle of the gimbal of the drone 10 is directly adjusted to -90°. When the second shooting angle is -90°, the shooting distance of the slope platform is calculated through the above-mentioned calculation process of calculating the shooting distance of the slope surface or slope platform, and the latitude and longitude and elevation values of the waypoint position in the first flight path are corrected according to the shooting distance of the slope platform to generate a second flight path, and the drone 10 is controlled to inspect the slope platform based on the second flight path through the route execution module 41.

[0065] Next, after finding the optimal pitch angle α of the gimbal, that is, the shooting angle, on the slope or slope platform, it is also necessary to find an optimal shooting distance from the drone 10 to the slope or slope platform at this shooting angle according to the preset detection accuracy pre-set by the drone 10 to achieve a better shooting effect.

[0066] Specifically, the shooting distance is determined by the following formula:

[0067]

[0068] Where D is the shooting distance, D precision is the preset detection accuracy, f sensor is the focal length of the lens, N x N is the width of the lens sensor in pixels. y is the height pixel number of the sensor, W sensor is the width of the sensor, H sensor is the height of the sensor.

[0069] For each slope section, after the drone 10 completes the inspection of each slope surface and each side slope platform of the slope section, it arrives at the foot of the slope section and still determines the shooting angle corresponding to the foot of the slope according to the slope surface method, and determines the shooting distance to obtain the second flight path corresponding to the foot of the slope. The route execution module 41 is used to realize subsequent inspections of the slope foot, which will not be elaborated here.

[0070] Next, after the second flight path is obtained after the position of each waypoint in each first flight path is corrected, the drone 10 is controlled to fly back to the first waypoint position of the second flight path to start inspection, and at each waypoint position in the second flight path, the route execution module 41 controls the drone 10 to shoot inspection images at the corresponding shooting angle and the control point corresponding to the waypoint position. Here, when the drone 10 arrives at each waypoint position in each second flight path and hovers, the pitch angle of the gimbal of the drone 10 is controlled to be adjusted from 0 to the corresponding pitch angle α, that is, the shooting angle, and the first waypoint position is corrected. The default single-shot mode in the flight mode of a flight path is changed to the tilted shooting mode, that is, three inspection images are taken at each waypoint, corresponding to the gimbal pitch angles of α-15°, α, and α+15°, respectively, to achieve synchronous small upward and downward shooting once, so as to better cover the inspection details of high slopes, such as subtle cracks on the slope that are difficult to find and the details of dangerous rocks on the slope. In addition, if α-15° is less than -90°, some drones 10 cannot support it. In this case, the attitude control module of the waypoint drone 10 automatically changes α-15° to -90° to ensure that the drone 10 can execute the route normally.

[0071] It should be noted that, when targeting the first slope at the highest point in a certain slope section, the present application first generates the first flight path for the slope, thereby determining the shooting angle and shooting distance, and accordingly generates the corresponding second flight path. Subsequently, the drone 10 flies along the second flight path, arrives at each waypoint position in turn, and takes inspection images of each control point on the slope. After completing the current slope shooting, the drone 10 immediately turns to the slope platform connected to the 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 taking inspection images at all control points), and then performs the above operations on the next slope. This process (i.e., targeting the slope section) is as follows: The above operations are performed sequentially on each slope surface, each side slope platform and slope foot in the slope section until all slope surfaces, side slope platforms and slope feet of the slope section have completed inspection image capture. After that, the drone 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 all corresponding control points have completed capture. Then, 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 using 4G / 5G wireless transmission, or data is directly copied from the SD card of the drone 10 to the slope management platform, providing basic high-slope image data for subsequent intelligent identification technology of slope hazards or manual review.

[0072] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5As shown in FIG, the electronic device 500 includes a processor 510, a memory 520 and a bus 530.

[0073] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 through the bus 530. When the machine-readable instructions are executed by the processor 510, the steps of the high slope inspection method based on drone in the above-mentioned method embodiment can be executed. The specific implementation method can be found in the method embodiment and will not be repeated here.

[0074] An embodiment of the present application also 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-mentioned drone-based high slope inspection method can be executed. The specific implementation method can be found in the method embodiment and will not be repeated here.

[0075] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0076] In the several embodiments provided in this 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 schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0077] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0078] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0079] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0080] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A high slope inspection method based on drone, characterized in that: The method comprises: Obtaining an inspection position table for a high slope, the high slope comprising multiple slope sections, the inspection position table comprising multiple control points from the top to the bottom of each slope section, each slope section comprising multiple slope surfaces, with a slope platform formed between adjacent slope surfaces, the inspection position table comprising coordinate information and a position identifier corresponding to each control point, the position identifier being used to indicate the position of the control point in the slope section; For each slope section, generating a first flight path corresponding to the UAV based on a plurality of control points corresponding to the slope section, wherein the first flight path includes a plurality of waypoint positions corresponding one-to-one to each control point; 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, a target waypoint position that meets the slope flatness requirement is determined, and based on the target waypoint position, the shooting angle and shooting distance of the UAV are determined, and the waypoint position in the first flight path is corrected according to the shooting distance to generate a second flight path, and the UAV is controlled to inspect the slope section based on the second flight path, wherein, at each waypoint position in the second flight path, the UAV is controlled to capture an inspection image at the control point corresponding to the waypoint position at the shooting angle, and the shooting angle includes multiple first shooting angles and one second shooting angle, the second shooting angle is a preset angle, each slope surface corresponds to a first shooting angle, and all slope platforms correspond to the second shooting angle.

2. The method according to claim 1, characterized in that The target waypoint position corresponding to each slope surface is determined by the following method: (A) controlling the UAV to fly to and hover at the i-th waypoint position in the first flight path corresponding to the slope; (B) for each angle within a preset angle range, controlling the drone to capture a corresponding first image at the angle; (C) determining, based on all captured first images, whether the slope surface at the control point corresponding to the i-th waypoint position meets the slope surface flatness requirement; (D) If satisfied, the i-th waypoint position is determined as the target waypoint position; (E) If not, set i=i+1 and return to step (A).

3. The method according to claim 2, characterized in that The drone is equipped with a camera and a laser ranging component. Wherein, step (B) comprises: For each angle within a preset angle range, the drone is controlled to capture a corresponding first image at the angle through the camera, and the straight-line distance between the drone and the slope is determined through the laser ranging component. The first shooting angle of the drone on each slope is determined by: The angle corresponding to the minimum straight-line distance measured by the UAV at the target waypoint position corresponding to each slope is determined as the first shooting angle.

4. The method according to claim 3, characterized in that The shooting distance is determined by the following formula: Where D is the shooting distance, D precision is the preset detection accuracy, f sensor is the focal length of the camera lens, N x N is the width of the lens sensor in pixels. y is the height pixel number of the sensor, W sensor is the width of the sensor, H sensor is the height of the sensor.

5. The method according to claim 1, wherein The coordinate information of each control point includes three-dimensional coordinates, and each waypoint location includes latitude, longitude and elevation values. The first flight path corresponding to the UAV is generated according to the multiple control points corresponding to each slope section in the following manner: For each slope section, the three-dimensional coordinates of each control point of the slope section are converted into longitude, latitude and elevation values, and each converted elevation value is increased by a safety height value to obtain the waypoint position corresponding to each control point, and the first flight path corresponding to the UAV is generated according to each waypoint position.

6. A drone, characterized in that: The drone includes: A reading module is used to obtain an inspection position table of a high slope, wherein the high slope includes multiple slope sections, the inspection position table includes multiple control points from the top to the bottom of each slope section, 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 a position identifier corresponding to each control point, and the position identifier is used to indicate the position of the control point in the slope section; a route generation module, configured to generate, for each slope section, a first flight path corresponding to the UAV based on a plurality of control points corresponding to the slope section, wherein the first flight path includes a plurality of waypoint positions; an attitude control module, configured to determine, for each slope segment, a target waypoint position that meets the slope surface flatness requirement based on a first image captured by the UAV at each waypoint position on the first flight path corresponding to the slope segment, determine a shooting angle and shooting distance of the UAV 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 route execution module, configured to control the UAV to inspect the slope section based on the second flight path; The image processing module is used to control the UAV to capture inspection images at the control point corresponding to the waypoint position at each waypoint position in the second flight path at the shooting angle, wherein the shooting angle includes multiple first shooting angles and one second shooting angle, the second shooting angle is a preset angle, each slope surface corresponds to a first shooting angle, and all slope platforms correspond to the second shooting angle.

7. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of any one of the methods described in claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are executed.

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