Unmanned aerial vehicle patrol method, medium, ground control center, unmanned aerial vehicle and system

Abstract

The invention discloses an unmanned aerial vehicle patrol method, a medium, a ground control center, an unmanned aerial vehicle and a system. The unmanned aerial vehicle inspection method comprises the steps that a ground control center sends an inspection instruction to an unmanned aerial vehicle; under the condition that the unmanned aerial vehicle receives the patrol instruction, the patrol task is executed according to the patrol path; the unmanned aerial vehicle sends position data and electric quantity data of the unmanned aerial vehicle to a ground control center in the process of executing the patrol task; the ground control center determines a return electric quantity threshold value of the unmanned aerial vehicle according to the position data of the unmanned aerial vehicle; when the current electric quantity indicated by the electric quantity data of the unmanned aerial vehicle is smaller than a return electric quantity threshold value, the ground control center sends a return charging instruction to the unmanned aerial vehicle; and the unmanned aerial vehicle returns to the charging base station according to the return path when receiving the return charging instruction. The unmanned aerial vehicle returns to the charging base station in time before the power is exhausted, and the unmanned aerial vehicle can recover the power in time.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a UAV inspection method, medium, ground control center, UAV, and system. Background Technology

[0002] With the development of drone technology, its application in various fields has become increasingly widespread, particularly in traffic management. Drones play a unique and crucial role in traffic inspection, improving traffic efficiency. Leveraging their flexibility and high-altitude perspective, drones can conduct comprehensive, real-time monitoring of traffic conditions, promptly identifying accident locations and ensuring rapid arrival of rescue personnel. They can also capture road condition information in real time, providing real-time data support to traffic management departments, assisting in the development of reasonable traffic diversion plans, and quickly alleviating congestion. However, drones have limited battery life; how to restore their power before it runs out is a key technical challenge currently being researched by the industry. Summary of the Invention

[0003] This application provides a method, medium, ground control center, drone, and system for drone inspection. The ground control center manages the charging schedule of the drone, enabling intelligent return of the drone. This ensures that the drone returns to the charging base station in time before its battery is depleted, thus ensuring that the drone can restore its power in a timely manner.

[0004] On one hand, this application provides a method for unmanned aerial vehicle (UAV) patrol, applied in a ground control center. The method includes: sending a patrol command to the UAV to enable the UAV to perform a patrol mission according to a patrol path; receiving location data and battery data from the UAV during the execution of the patrol mission; determining a return battery threshold for the UAV based on the location data; and sending a return charging command to the UAV when the current battery level indicated by the UAV's battery data is less than the return battery threshold, so that the UAV returns to a charging base station according to the return path.

[0005] In some embodiments, determining the return-trip battery threshold of the drone based on the location data of the drone includes: determining the distance data between the drone and the charging base station based on the location data of the drone and the location data of the charging base station; and determining the return-trip battery threshold of the drone based on the distance data.

[0006] In some embodiments, the charging base station meets target charging conditions, and the target charging conditions include at least one of the following: the current distance to the drone is the closest; there is currently an available charging spot; there is currently a replaceable battery.

[0007] In some embodiments, sending a return-to-charge instruction to the drone when the current battery level indicated by the drone's battery data is less than the return-to-charge threshold, so that the drone returns to the charging base station along the return path, includes: generating the return-to-charge instruction based on the drone's estimated arrival time, the drone's battery data, and the charging status of the charging base station when the current battery level indicated by the drone's battery data is less than the return-to-charge threshold; and sending the return-to-charge instruction to the drone so that the drone returns to the charging base station along the return path.

[0008] In some embodiments, the charging status of the charging base station includes at least one of the following: the occupancy status of the charging position of the charging base station, the remaining power of the charging base station, the working status of the battery replacement device of the charging base station, and the remaining number of batteries of the charging base station.

[0009] In some embodiments, the return charging instruction includes at least one of the following: a return charging enable instruction, the return path, the charging method, the location data of the charging position of the charging base station, and the location data of the battery replacement device of the charging base station.

[0010] In some embodiments, the drone inspection method further includes: monitoring the charging data of the drone during the charging process at the charging base station; and controlling the charging base station to stop charging the drone and perform a charging alarm operation when the charging data of the drone meets the charging alarm conditions.

[0011] In some embodiments, the charging alarm conditions include at least one of the following: the charging voltage is greater than a voltage threshold, the charging current is greater than a current threshold, and the charging temperature is greater than a temperature threshold.

[0012] On the other hand, this application provides a drone inspection method, applied to a drone, the drone inspection method including: upon receiving an inspection instruction from a ground control center, performing an inspection task according to an inspection path; during the execution of the inspection task, sending the drone's location data and battery data to the ground control center, so that the ground control center can determine the return battery threshold and determine whether to issue a return charging instruction to the drone; upon receiving the return charging instruction from the ground control center, returning to the charging base station according to the return path.

[0013] In some embodiments, the UAV patrol method further includes: when the early warning operation conditions are met, determining an early warning power threshold based on the UAV's patrol mission, the UAV's flight power consumption, and the UAV's battery capacity; and during the execution of the patrol mission, performing a preset return operation based on a comparison between the UAV's current power level and the early warning power threshold.

[0014] In some embodiments, the early warning operation condition includes: communication between the UAV and the ground control center is interrupted.

[0015] In some embodiments, the warning power threshold includes a first power threshold, a second power threshold, and a third power threshold that decrease sequentially; the step of performing a preset return operation based on a comparison between the current power level of the drone and the warning power threshold includes: determining the return path when the current power level of the drone is less than the first power threshold but greater than or equal to the second power threshold; returning to the charging base station in energy-saving mode according to the return path when the current power level of the drone is less than the second power threshold but greater than or equal to the third power threshold; and interrupting the patrol mission and returning to the charging base station according to the return path when the current power level of the drone is less than the third power threshold.

[0016] On the other hand, embodiments of this application also provide a computer-readable storage medium storing a computer program or instructions thereon, which, when executed by a processor, implement the steps in the unmanned aerial vehicle (UAV) inspection method described above.

[0017] On the other hand, embodiments of this application also provide a computer program product, including a computer program or instructions, which, when executed by a processor, implement the steps in the unmanned aerial vehicle (UAV) inspection method described above.

[0018] On the other hand, embodiments of this application also provide a ground control center, including a first memory and a first processor. The first memory stores computer programs or instructions. When the computer programs or instructions are executed by the first processor, the first processor performs the following steps: sending a patrol instruction to a drone to cause the drone to perform a patrol task according to a patrol path; receiving location data and power data from the drone during the drone's patrol task; determining a return-trip power threshold for the drone based on the drone's location data; and sending a return-trip charging instruction to the drone when the current power level indicated by the drone's power data is less than the return-trip power threshold, so that the drone returns to a charging base station according to a return path.

[0019] On the other hand, this application embodiment also provides a drone, including a second memory and a second processor. The second memory stores a computer program or instructions. When the computer program or instructions are executed by the second processor, the second processor performs the following steps: upon receiving a patrol instruction from a ground control center, performing a patrol task according to a patrol path; during the execution of the patrol task, sending the drone's location data and battery data to the ground control center, so that the ground control center determines the return battery threshold and decides whether to issue a return charging instruction to the drone; upon receiving the return charging instruction from the ground control center, returning to the charging base station according to the return path.

[0020] On the other hand, this application embodiment also provides a drone inspection system, which includes a drone, a ground control center, and a charging base station. The ground control center is used to send inspection commands to the drone. The drone, upon receiving the inspection command, performs an inspection task according to an inspection path; and during the execution of the inspection task, sends its location data and battery data to the ground control center. The ground control center is further used to determine a return-trip battery threshold for the drone based on its location data; and if the current battery level indicated by the drone's battery data is less than the return-trip battery threshold, send a return-trip charging command to the drone. The drone, upon receiving the return-trip charging command, returns to the charging base station according to a return path.

[0021] In summary, the technical solution provided in this application allows the UAV to continuously send location and battery data to the ground control center during its patrol mission. The ground control center determines the UAV's return-trip battery threshold in real time based on its location data, and sends a return-trip charging command to the UAV when the current battery level indicated by the battery data is less than the return-trip battery threshold. By managing the charging schedule for the UAV through the ground control center, intelligent return-trip functionality is achieved, ensuring the UAV returns to the charging base station before its battery is depleted, thus guaranteeing timely battery recovery. In this application embodiment, the return-trip charging threshold used to determine whether the UAV should return to the charging base station is determined in real time based on the UAV's location data, ensuring a reasonable and accurate setting of the return-trip charging threshold. This effectively ensures that the UAV can return to the charging base station in time before its battery is depleted, contributing to improved stability of the UAV patrol system. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of an unmanned aerial vehicle (UAV) patrol system provided in an embodiment of this application;

[0024] Figure 2 This is a schematic diagram illustrating the construction of a ground control center and a charging base station according to an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of a ground control center provided in an embodiment of this application;

[0026] Figure 4 This is a schematic diagram of a charging base station provided in an embodiment of this application;

[0027] Figure 5 This is a schematic diagram of a drone provided in an embodiment of this application;

[0028] Figure 6 This is a schematic diagram of a drone inspection method provided in an embodiment of this application;

[0029] Figure 7 This is a flowchart of a drone inspection method provided in an embodiment of this application;

[0030] Figure 8 This is a flowchart of another unmanned aerial vehicle (UAV) inspection method provided in an embodiment of this application;

[0031] Figure 9 This is a flowchart of another unmanned aerial vehicle (UAV) inspection method provided in the embodiments of this application. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] In the following description, specific embodiments of the invention will be illustrated with reference to steps and symbols performed by one or more computers, unless otherwise stated. Therefore, these steps and operations will be referred to several times as being performed by a computer, and computer execution as referred to herein includes operations by a computer processing unit representing electronic signals of data in a structured format. This operation transforms the data or maintains it at a location in the computer's memory system, which can be reconfigured or otherwise alter the operation of the computer in a manner well known to those skilled in the art. The data structure maintained by the data is the physical location of the memory, which has specific characteristics defined by the data format. However, the principles of the invention described above are not intended to be limiting, and those skilled in the art will understand that many of the steps and operations described below can also be implemented in hardware.

[0034] The terms "module" or "unit" as used herein can be considered as software objects executing on the computing system. The various components, modules, engines, and services described herein can be considered as implementations on the computing system. While the apparatus and methods described herein are preferably implemented in software, they can also be implemented in hardware, both of which are within the scope of this invention.

[0035] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when an element is “connected” or “coupled” to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein may include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0036] Please see Figure 1 , Figure 1 This is a schematic diagram of an unmanned aerial vehicle (UAV) patrol system provided in an embodiment of this application. Figure 1 As shown, the drone patrol system includes: drone 100, ground control center 200, and charging base station 300.

[0037] The ground control center 200 and the charging base station 300 can be located in the same place. For example, they can be constructed in a vertical structure, with the charging base station 300 built above the ground control center 200. Furthermore, the charging base station 300 can be an integral part of the ground control center 200, and they can communicate via wired or wireless networks. It should be understood that... Figure 1 Taking the ground control center 200 and the charging base station 300 as an example, this does not constitute a limitation on the embodiments of this application. In actual applications, they can also be built in different locations.

[0038] For example, a ground control center 200 and a charging base station 300 can be constructed every 5 to 10 kilometers within a user-planned area, according to user needs. The charging base station 300 can be constructed above the ground control center 200, and solar panels can be installed above the charging base station 300 to absorb solar energy and convert it into electrical energy. Figure 2 As shown; in the initial stage of construction, each charging base station 300 can be equipped with 3 to 6 charging positions; in the future, the ground control center 200 and the charging base station 300, as well as the charging positions in the charging base station 300, can be further expanded according to user needs.

[0039] This application embodiment does not limit the number of ground control centers 200, charging base stations 300, and drones 100 in the drone inspection system; these can be flexibly configured according to actual needs. To achieve collaborative management, in this application embodiment, multiple ground control centers 200 in the drone inspection system can communicate with each other via wired or wireless networks to achieve interactive collaboration.

[0040] Please see Figure 3 , Figure 3 This is a schematic diagram of a ground control center provided in an embodiment of this application. Figure 3 As shown, the ground control center 200 may include: a human-machine interface 210, an intelligent processing unit 220, an instruction generation module 230, a communication module 240, a data storage and management module 250, and a power management module 260.

[0041] The ground control center 200 is the core management platform of the UAV patrol system. It can be equipped with high-performance servers and professional traffic management software. It communicates in real-time with the UAV 100 via the communication module 240, receiving data collected and processed by the UAV 100. Traffic management personnel can remotely control the UAV 100 from the ground control center 200, issuing patrol commands and adjusting patrol routes. The UAV 100 can also perform patrol tasks 24 / 7, following routes planned by the intelligent processing unit 220 of the ground control center 200. Furthermore, the ground control center 200 can also feed back traffic accident judgments to the traffic police department and coordinate with other traffic management systems to achieve rapid traffic congestion relief and lane guidance.

[0042] The human-computer interface 210 provides an intuitive and convenient operating interface for traffic management personnel to perform operations such as system monitoring, task assignment, and parameter setting. The human-computer interface 210 can adopt virtual reality (VR) and / or augmented reality (AR) technologies, which can display traffic scenes and drone flight status in a three-dimensional visualization, improving the operating experience and decision-making efficiency of management personnel.

[0043] The intelligent processing unit 220 can integrate deep learning models and big data analysis algorithms. Employing distributed computing clusters and cloud computing technology, it possesses powerful data processing and real-time analysis capabilities. The intelligent processing unit 220 can perform multi-dimensional analysis of traffic data collected by the drone 100, including vehicle trajectories, speeds, accelerations, traffic signs, and traffic light status, thereby enabling rapid detection of traffic accidents, determination of liability, and accurate assessment of traffic congestion levels.

[0044] The instruction generation module 230 can generate control instructions for the drone 100 based on the analysis results of the intelligent processing unit 220 and preset traffic management strategies. These control instructions include flight path planning, patrol instructions, and return-to-charge instructions. The instruction generation module 230 can also possess intelligent decision optimization capabilities, dynamically adjusting control instructions based on real-time traffic conditions and the status of the drone 100 to achieve optimal traffic management results.

[0045] The communication module 240 can adopt a communication architecture that combines 5G (Fifth Generation of Mobile Networks) and LPWAN (Low Power Wide Area Network) with satellite communication. This dual-mode communication architecture, employing both 5G and self-organizing networks, ensures communication reliability and adaptive communication protocol switching. For example, it supports 4096QAM (Quadrature Amplitude Modulation) high-order modulation, achieving a data transmission rate of 10Gbps, ensuring high-speed and stable data transmission between the UAV 100 and the ground control center 200 in various environments. The communication module 240 also utilizes a lightweight communication protocol based on MQTT-SN (Message Queuing Telemetry Transport-Sensor Networks) to implement a three-level QoS (Quality of Service) guarantee mechanism (such as QoS0 / QoS1 / QoS2), supporting automatic communication link switching and recovery. The 5G communication module 240 enables high-speed and stable data transmission in areas with good signal coverage, such as cities. Integrated beamforming technology enhances signal strength by over 30%, ensuring real-time exchange of large amounts of image, video, and sensor data between the UAV 100 and the ground control center 200. Satellite communication in the module serves as a backup, maintaining communication connectivity with the UAV 100 even in remote areas or when 5G signals are interrupted, ensuring reliable communication. The module also features adaptive signal enhancement and interference suppression technology, automatically adjusting signal strength and frequency based on the communication environment to improve communication quality. Furthermore, the module supports data interaction with other traffic management equipment (such as intelligent traffic lights and roadside surveillance cameras) for information sharing.

[0046] The data storage and management module 250 can employ a distributed file system and database management system, possessing large-capacity data storage capabilities and efficient data retrieval functions. This module is used to store raw data collected by drones, analysis results generated by the AI ​​intelligent processing unit, and historical traffic data, etc. The data storage and management module supports real-time data backup and recovery, ensuring data security and integrity.

[0047] The power management module 260 can combine a UPS (Uninterruptible Power Supply) and a solar power system to ensure stable operation of the ground control center 200 under various power conditions. The power management module 260 features intelligent power distribution and energy-saving management functions, automatically adjusting power supply according to system load to reduce energy consumption.

[0048] Please see Figure 4 , Figure 4 This is a schematic diagram of a charging base station provided in an embodiment of this application. Figure 4 As shown, the charging base station 300 includes: a detachable charging module 310, a wireless charging interface 320, a wireless charging dock 330, a drone parking platform 340, a battery replacement device 350, and an energy storage module 360.

[0049] The charging base station 300 can utilize both solar battery and electrical power, prioritizing solar battery energy and intelligently switching between modes. It can employ wireless charging technology and automatically replace batteries for rapid charging of the drone 100. The energy storage module 360 ​​can store multiple batteries and electrical energy. The charging base station 300 intelligently manages energy usage, cyclically charging the backup batteries to ensure immediate battery replacement upon drone 100's return, significantly reducing charging time. The charging base station 300 is also equipped with multiple drones 100, allowing the ground control center 200 to assign subsequent drones to take over tasks after drone 100 returns, ensuring uninterrupted 24-hour operation.

[0050] The charging base station 300 can automatically dock and charge: After the drone 100 arrives at the charging base station 300, the charging base station 300 can automatically align with the charging port of the drone 100 through positioning technologies such as visual recognition and LiDAR, achieving precise docking. The charging base station 300 automatically adjusts parameters such as charging voltage and current according to the battery type and charging needs of the drone 100, and begins charging.

[0051] The charging base station 300 can also monitor the charging process: during charging, it can monitor parameters such as voltage, current, and temperature of the drone 100's battery in real time. In case of abnormalities (such as overvoltage, overcurrent, overheating, etc.), it will immediately stop charging and issue an alarm, improving the reliability of the charging process to over 99.9%. The charging base station 300 can also record charging data, including charging start time, end time, and charging amount, for subsequent analysis and management.

[0052] The charging base station 300 can also issue a charging completion notification: when the drone 100's battery is fully charged, the charging base station 300 automatically stops charging and sends a charging completion signal to the drone 100 and the ground control center 200. After receiving the charging completion signal, the drone 100 disconnects from the charging base station 300 and waits for the ground control center 200 to issue new mission instructions or returns to the work area according to a preset path.

[0053] In this embodiment, the ground control center 200 and the charging base station 300 can realize the endurance management and charging control of the UAV 100, and realize functions such as efficient management, data processing and intelligent traffic command of the UAV 100. The main working process is divided into the following steps.

[0054] System setup and initialization process: When building the ground control center 200, the communication module 240 can be installed and debugged first to ensure the normal operation of 5G and satellite communication, and to conduct signal strength testing and interference troubleshooting; the hardware and software system of the intelligent processing unit 220 can be installed to train and optimize the deep learning model; the server and database of the data storage and management module 250 can be configured to conduct data backup and recovery tests; the software system of the instruction generation module 230 and the human-machine interface 210 can be installed and functional tests and user experience optimization can be conducted; finally, the power management module 260 can be debugged to ensure the normal operation of the UPS and solar power supply system.

[0055] Data Reception and Processing: When performing patrol missions, the UAV 100 collects traffic data through various sensors and transmits the data in real time to the ground control center 200 via the communication module 240. Upon receiving the data, the communication module 240 decodes and verifies it, removing erroneous data. The data is then sent to the intelligent processing unit 220. The intelligent processing unit 220 preprocesses the data, including image enhancement, target detection, and feature extraction. Next, a deep learning model is used to analyze the processed data, identifying the type of traffic accident, the responsible party, and the degree and extent of traffic congestion. Finally, preliminary handling suggestions and penalty results are generated.

[0056] Command Generation and Transmission Process: Based on the analysis results of the intelligent processing unit 220 and the preset traffic management strategy, the command generation module 230 generates control commands for the drone 100. For example, if a traffic accident is detected, the command generation module 230 will generate commands to instruct the drone 100 to proceed to the accident scene for detailed investigation and to collect image and video data of the accident scene. If traffic congestion is detected, the command generation module 230 will generate commands to instruct the drone 100 to hover over the congested area and guide vehicles to pass in an orderly manner using sound and light signals. After the control commands are generated, they are sent to the drone 100 through the communication module 240. Upon receiving the commands, the drone 100 executes the corresponding tasks according to the commands.

[0057] Human-Computer Interaction and Decision Support Process: Traffic management personnel monitor traffic conditions and the operational status of the drone 100 in real time through the human-computer interaction interface 210. On the human-computer interaction interface 210, managers can see a 3D visualization of the traffic scene, the flight trajectory and status information of the drone 100, and processing suggestions and penalty results generated by the intelligent processing unit 220. Managers can review and adjust the processing suggestions and penalty results according to the actual situation, and can also directly issue control commands. The human-computer interaction interface 210 also provides historical data query and statistical analysis functions. Managers can query traffic accident data, traffic congestion data, etc., over a period of time, perform data analysis and trend prediction, and provide support for traffic management decisions.

[0058] Drone Endurance Management Process: Each charging base station 300 is equipped with sensors to monitor the occupancy of charging spots, the working status of charging equipment, and remaining charging capacity in real time, and feeds this information back to the ground control center 200. Based on the estimated arrival time of the drone 100, battery data, and the status of the charging base station 300, the ground control center 200 can use intelligent scheduling algorithms such as greedy algorithms or genetic algorithms to allocate charging spots to each drone 100. Drones 100 with low battery levels can be prioritized for allocation to nearby and available charging spots, while also considering load balancing at charging stations to avoid some stations being overloaded and affecting charging efficiency, reducing charging waiting time by more than 30%. Based on the number of surrounding drones 100 and mission requirements, the ground control center 200 intelligently allocates charging options for drones 100, allowing them to charge wirelessly or automatically replace batteries using battery replacement devices (such as robotic arms). After charging or battery replacement is complete, the charging base station 300 sends a charging completion signal to the ground control center 200. The ground control center 200 then sends mission instructions to the drones 100 again, directing them to continue performing their missions.

[0059] In this embodiment of the application, the ground control center 200 can perform path planning and data analysis for the UAV 100.

[0060] For path planning of the UAV 100, the ground control center 200 can collect data in real time, including the current location of the UAV 100, the distribution of surrounding charging base stations 300, current weather conditions (wind speed, wind direction, rainfall, etc.), and air traffic conditions (the positions and flight paths of other aircraft). Then, AI algorithms or Dijkstra's algorithm, combined with reinforcement learning techniques, can be used to plan a path for each UAV 100 based on the collected data. When planning the path, the availability and distance of the charging base stations 300, as well as the energy consumption of the UAV 100 during flight, can be considered. Simultaneously, no-fly zones, dangerous areas, and the flight paths of other aircraft can be avoided to ensure flight safety. If the UAV 100 encounters unexpected situations during flight (such as sudden changes in weather conditions or newly appearing obstacles), the ground control center 200 can replan the path to guide the UAV 100 safely to the charging base station 300.

[0061] For data analysis of the UAV 100, the ground control center 200 can record all data during the UAV 100's return to charging process, including changes in the UAV 100's battery level, return path, charging time, charging amount, and the usage status of the charging base station 300. The ground control center 200 can periodically analyze the recorded data to evaluate the energy efficiency of the UAV 100, the performance of the charging system, and the effectiveness of the path planning and charging scheduling algorithms. Based on the analysis results, the ground control center 200 can optimize system parameters and algorithms, improving the overall operational efficiency and reliability of the UAV 100. By continuously optimizing intelligent algorithms such as path planning and charging scheduling, the ground control center 200 can not only improve the calculation speed and accuracy of the algorithms but also adapt to complex and changing operating environments and variations in the scale of the UAV 100.

[0062] Please see Figure 5 , Figure 5 This is a schematic diagram of a drone provided in an embodiment of this application. Figure 5 As shown, the drone 100 includes: an intelligent processing module 110, a radar 120, a data acquisition and processing module 130, a charging interface 140, a battery 150, a camera 160, and a communication module 170.

[0063] The UAV 100's body can be manufactured using high-strength, lightweight composite materials, possessing excellent aerodynamic performance and adaptable to various weather conditions and flight environments. The lightweight design effectively solves the UAV 100's payload problem, helping to address its insufficient endurance. The UAV 100 can be equipped with multiple adjustable propellers, achieving stable flight through the intelligent processing module 110. Flight altitude and speed can be flexibly adjusted according to mission requirements. Combining the characteristics of fixed-wing and propeller-driven aircraft, the UAV 100 can maintain an endurance of approximately 1 to 2 hours. The UAV 100 can take off and land vertically like a rotary-wing UAV and cruise efficiently like a fixed-wing UAV, giving it unique advantages in complex terrain and mission scenarios.

[0064] The data acquisition module of the drone 100 includes a camera 160 and a radar 120. The camera 160 can be a high-definition camera, capable of capturing clear images and videos for traffic condition monitoring and accident scene investigation. The radar 120 includes, but is not limited to, lidar and millimeter-wave radar, which can acquire obstacle information around the drone 100 in real time to ensure flight safety, and is also used to measure vehicle speed and distance. Through the combination of multiple sensors and a high-speed, stable communication module 170, comprehensive and real-time traffic data can be collected and quickly transmitted to the intelligent processing module 110, providing accurate and timely information support for traffic management.

[0065] The UAV 100 can employ energy recovery technology and a charging and battery management system to improve its endurance by more than 20%. The UAV 100's communication module 170 can integrate BeiDou-3 and B1C / B2a signal reception capabilities, automatically feeding back its position coordinates and latitude / longitude information to the ground control center 200. The intelligent processing unit 220 of the ground control center 200 can intelligently calculate and set the required return-trip battery power threshold based on the position data fed back by the UAV 100. Each UAV 100 can be equipped with a high-precision battery power sensor, collecting battery power data in real time on a second-by-second basis and transmitting the power information to the ground control center 200 via a wireless communication module. The ground control center 200 monitors the battery status of the UAV 100 in real time. When the current battery level of the UAV 100 is lower than the return-trip battery power threshold, the command generation module 230 generates a return-trip charging command and sends it to the UAV 100. Upon receiving the return-trip charging command, the UAV 100 can interrupt its mission and activate the return path intelligently planned by the ground control center 200 to return to the designated charging base station 300 for charging.

[0066] To prevent communication interruption with the ground control center 200 in harsh environments, the UAV 100 can intelligently set multiple warning power thresholds based on its battery capacity, flight power consumption, and mission requirements. This is achieved using RTK (Real-Time Kinematic) centimeter-level positioning with a horizontal positioning accuracy of ±2.5cm, and track estimation when the built-in inertial navigation unit (GPS) signal is lost. For example, when the UAV 100's current battery level drops to 40%, it begins recording its power status; when it drops to 30%, a level one warning is issued, and the UAV 100 begins planning its return route; when it drops to 20%, a level two warning is issued, and the UAV 100 plans its return route with the nearest charging base station 300 as the target, accelerating its return in energy-saving mode; when the UAV 100's current battery level drops to 10%, an emergency warning is issued, the UAV 100 suspends all tasks, plans its return route with the shortest path as the target, and forces a return trip. The ground control center 200's charging base station 300 always reserves an emergency landing charging position so that the drone 100 can successfully land and charge in case of emergencies.

[0067] The drone patrol system provided in this application can perform daily traffic patrols, quickly handle traffic accidents, guide traffic, and has long endurance, thereby improving the efficiency and intelligence level of traffic management. Figure 6 As shown.

[0068] For routine traffic patrols: Ground control center 200 sets patrol routes and mission parameters for UAV 100 based on traffic conditions and management needs. After receiving mission instructions via communication module 170, UAV 100 executes its self-check procedure. Once its performance meets all requirements, it takes off and automatically scans and patrols along the designated route. UAV 100's data acquisition module collects traffic information in real time, including vehicle driving status, traffic light status, and road congestion. The collected data is transmitted via communication module 170 to UAV 100's intelligent processing module 110 for analysis. Intelligent processing module 110 processes the data in real time, identifies traffic violations, records the time, location, and vehicle information of the violations, and generates preliminary penalty results. The penalty results are transmitted to ground control center 200 via communication module 170, along with related information. Ground control center 200 then feeds the results back to the traffic police department. The self-test procedure performed by the UAV 100 includes: receiving the inspection command and determining the self-test status, including but not limited to determining whether it is charging, whether multiple sensors such as radar are normal, and determining the battery level and video stream status; the UAV's rocker-arm dual doors open in coordination, the adjustable rotor self-tests, and the XY axis locks after self-testing; and determining the real-time dynamic RTK positioning solution type.

[0069] For rapid handling of traffic accidents: When the UAV 100 detects a traffic accident, it can adjust its flight attitude and fly over the accident scene to conduct a detailed investigation. The UAV 100's data acquisition module comprehensively collects images and video information from the accident scene, including vehicle collision locations, damage, and casualties, and records the time, location, and vehicle information of the accident. The UAV 100's intelligent processing module 110 analyzes the accident scene information, determines the accident type (such as rear-end collision, collision, scrape, etc.) and severity, and analyzes accident responsibility based on traffic regulations and preset algorithms to generate a preliminary penalty result. The penalty result is transmitted to the ground control center 200 via the UAV 100's communication module 170, and the ground control center 200 feeds back the result to the traffic police department. If the accident is determined to be a minor incident (such as a rear-end collision, a collision, or a scrape) without causing any injuries or fatalities, the judgment will be transmitted to the vehicle owner's traffic terminal. The drone will then provide voice guidance to the vehicle to leave the accident scene and clear the congested road. If the incident is more serious, the traffic police will promptly dispatch officers to the accident scene to handle the situation, while the drone will simultaneously go to the congested road and use voice prompts and warning lights to guide vehicles behind to avoid the accident lane. Multiple drones can also work together depending on the level of responsibility of the task.

[0070] For traffic congestion relief and lane guidance: The ground control center 200 assesses road congestion based on traffic information collected by the UAV 100 and the analysis results from the intelligent processing module 110. By coordinating with the intelligent traffic signal system, it adjusts the duration and phase of traffic lights to optimize traffic flow. Simultaneously, the ground control center 200 disseminates real-time traffic information and lane guidance suggestions to drivers through a traffic information dissemination platform, guiding vehicles to choose appropriate lanes and routes. The UAV 100 then simultaneously travels to congested sections, using voice prompts and warning lights to guide following vehicles, achieving rapid traffic congestion relief. Multiple UAVs 100 can also work collaboratively depending on the level of task responsibility.

[0071] For automatic return and charging: The drone 100 has a built-in power monitoring module that monitors the battery level in real time. When the current battery level is lower than a set threshold, the drone 100 can send a charging request to the ground control center 200. Upon receiving the request, the ground control center 200 plans a return path for the drone 100 to the charging base station 300. Alternatively, the drone 100 can send its battery data to the ground control center 200, which sets a battery threshold. When the drone 100's current battery level is lower than the set threshold, the ground control center 200 plans a return path for the drone 100 and sends a return charging command. The drone 100 automatically returns to the charging base station 300 according to the planned path. The ground control center 200 can also arrange for subsequent drones 100 to take over the corresponding tasks, allowing for uninterrupted 24-hour duty in a cyclical and alternating manner. The charging base station 300 uses wireless charging technology; after the drone 100 lands at the charging base station 300, the charging process automatically begins. Based on the number of surrounding drones and mission requirements, the charging base station 300 at the ground control center 200 intelligently allocates charging for drone 100 via wireless charging technology or automatic battery replacement via a robotic arm or other battery replacement equipment. If a battery replacement is needed, the robotic arm at the charging base station 300 automatically removes the depleted battery and installs a new fully charged battery, ensuring that drone 100 can resume operation as quickly as possible.

[0072] Based on the above embodiments, the UAV 100 and the ground control center 200 have at least the following functions.

[0073] Ground control center 200 is used to: send patrol instructions to UAV 100;

[0074] The UAV 100 is used to: execute patrol tasks according to the patrol path upon receiving a patrol instruction; and send the UAV 100's position and battery data to the ground control center 200 during the execution of the patrol tasks.

[0075] The ground control center 200 is also used to: determine the return battery threshold of the UAV 100 based on the UAV 100's position data; and send a return charging command to the UAV 100 when the current battery level indicated by the UAV 100's battery data is less than the return battery threshold.

[0076] The drone 100 is also used to: return to the charging base station 300 according to the return route when a return charging instruction is received.

[0077] In some embodiments, the ground control center 200 is further configured to: determine the distance data between the drone 100 and the charging base station 300 based on the location data of the drone 100 and the location data of the charging base station 300; and determine the return trip battery threshold of the drone 100 based on the distance data.

[0078] In some embodiments, the ground control center 200 is further configured to: generate a return charging instruction based on the expected arrival time of the drone 100, the drone's power data, and the charging status of the charging base station 300 when the current power level indicated by the power data of the drone 100 is less than the return power threshold; and send the return charging instruction to the drone 100 so that the drone 100 returns to the charging base station 300 according to the return path.

[0079] In some embodiments, the ground control center 200 is further configured to: monitor the charging data of the drone 100 during the charging process; and stop charging the drone 100 and execute a charging alarm operation when the charging data of the drone 100 meets the charging alarm conditions.

[0080] In some embodiments, the drone 100 is further configured to: determine a warning power threshold based on the drone 100's patrol mission, the drone 100's flight power consumption, and the drone 100's battery capacity when the warning operation conditions are met; and execute a preset return operation based on a comparison between the drone 100's current power level and the warning power threshold during the patrol mission.

[0081] In some embodiments, the warning power threshold includes a first power threshold, a second power threshold, and a third power threshold that decrease sequentially; the drone 100 is further configured to: determine a return path when the current power of the drone 100 is less than the first power threshold but greater than the second power threshold; return to the charging base station 300 in energy-saving mode according to the return path when the current power of the drone 100 is less than the second power threshold but greater than the third power threshold; and interrupt the patrol mission and return to the charging base station 300 according to the return path when the current power of the drone 100 is less than the third power threshold.

[0082] For further details regarding the various steps performed by the UAV 100 and the ground control center 200 and their beneficial effects, please refer to the following method embodiments, which will not be elaborated upon here.

[0083] Please see Figure 7 , Figure 7 This is a flowchart illustrating a drone inspection method provided in an embodiment of this application. This drone inspection method can be applied to the aforementioned drone inspection system, for example, implemented by the drone 100, ground control center 200, and charging base station 300 within the system. Figure 7 As shown, the UAV inspection method may include the following steps S710 to S760.

[0084] Step S710: The ground control center sends a patrol command to the UAV;

[0085] Step S720: Upon receiving the inspection instruction, the UAV executes the inspection task according to the inspection path;

[0086] Step S730: During the patrol mission, the UAV sends its location and battery data to the ground control center;

[0087] Step S740: The ground control center determines the return battery threshold of the drone based on the drone's location data;

[0088] Step S750: If the current battery level indicated by the UAV's battery data is less than the return trip battery threshold, the ground control center sends a return trip charging command to the UAV.

[0089] Step S760: Upon receiving the return charging instruction, the drone returns to the charging base station according to the return route.

[0090] The ground control center can send patrol instructions to at least one UAV based on actual traffic conditions and traffic management needs. Patrol instructions include, but are not limited to, at least one of the following: patrol enable instruction, patrol path, patrol task, and patrol destination. Specifically, the patrol enable instruction triggers the UAV to begin patrolling; the patrol path can be the flight path required for the UAV to perform the patrol task, or it can be the flight path required for the UAV from takeoff to the completion of the patrol task; the patrol task includes, but is not limited to, data collection, traffic management, lane guidance, and accident handling; and the patrol destination can be the location the UAV needs to reach.

[0091] Upon receiving a patrol instruction, the UAV can execute a patrol mission according to the instruction. In this embodiment, the patrol instruction issued by the ground control center may include a patrol path and a patrol mission; the UAV can directly execute the patrol mission according to the patrol path indicated by the instruction. Alternatively, the patrol instruction issued by the ground control center may include a patrol enable instruction; the UAV will then execute a preset patrol mission according to the preset patrol path based on the enable instruction. Or, the patrol instruction issued by the ground control center may include a patrol destination; the UAV can plan its own patrol path based on the instruction and then execute the preset patrol mission according to that path. This embodiment does not limit the specific method by which the UAV executes the patrol mission according to the patrol path; in practical applications, it can be determined based on the content of the patrol instruction and the UAV's settings.

[0092] In this embodiment, during the execution of a patrol mission, in addition to transmitting patrol mission-related data back to the ground control center, such as images or videos of traffic roads and traffic accident judgments, the drone can also send its location data and battery data to the ground control center. The location data includes location coordinates and / or latitude and longitude, and the battery data includes the drone's current battery level and / or battery capacity. The drone can continuously send location and battery data to the ground control center; for example, it can send location and battery data at regular time intervals, such as 0.5s, 1s, 1min, or 5min. Alternatively, the drone can send location and battery data simultaneously while transmitting patrol mission-related data; this embodiment does not limit this approach.

[0093] Based on the location data transmitted back by the drone, the ground control center can monitor the drone's location and distance from the charging station in real time; based on the battery data transmitted back by the drone, it can monitor the drone's current battery level in real time. Therefore, the ground control center can intelligently plan the time and location for the drone's return to charging, ensuring that the drone returns to the charging station before its battery is depleted.

[0094] In this system, the ground control center can determine the drone's return-trip battery threshold in real time based on the drone's location data. In some embodiments, the ground control center determines the distance between the drone and the charging base station based on the drone's location data and the charging base station's location data; and determines the drone's return-trip battery threshold based on the distance data.

[0095] When determining the distance data between a drone and a charging base station, the ground control center can identify the charging base station that meets the target charging conditions from multiple charging base stations. Then, based on the distance data between the drone and the charging base station meeting the target charging conditions, the return-trip battery threshold for the drone is determined. In some embodiments, the target charging conditions include, but are not limited to, at least one of the following: the closest current distance to the drone; the existence of an available charging position; or the existence of a replaceable battery. During the drone's flight, the charging base station closest to the drone may not be fixed but may change depending on the drone's location data. Interactive collaboration among multiple ground control centers can acquire location data, charging position occupancy status, remaining battery quantity, operating status, and remaining battery power of multiple charging base stations, and then identify the charging base station that meets the target charging conditions. Based on the drone's location data and the location data of the charging base station meeting the target charging conditions, the distance data between the drone and the charging base station meeting the target charging conditions can be determined. Further determining the drone's return-trip battery threshold based on the distance data allows for a more reasonable and accurate setting of the return-trip battery threshold, ensuring that the drone can return to the charging base station before its battery is depleted and that the drone can promptly recover its battery at the charging base station. In addition, when determining the return battery threshold for a drone based on distance data, the ground control center can also combine the drone's flight power consumption and battery capacity to further improve the accuracy of the return battery threshold.

[0096] The ground control center determines the drone's return-trip battery threshold in real time and, based on a comparison between the drone's battery data and the return-trip battery threshold, decides whether to issue a return-trip charging command to the drone. If the drone's current battery level, as indicated by its battery data, is less than the return-trip battery threshold, a return-trip charging command can be issued to the drone, causing it to return to the charging base station along the return path. In some embodiments, when the drone's current battery level, as indicated by its battery data, is less than the return-trip battery threshold, the ground control center generates a return-trip charging command based on the drone's estimated arrival time, the drone's battery level, and the charging status of the charging base station; and sends the return-trip charging command to the drone, causing it to return to the charging base station along the return path.

[0097] The charging base station referenced when generating the return charging command can still be one that meets the target charging conditions. In some embodiments, the charging status of the charging base station includes, but is not limited to, at least one of the following: the occupancy status of the charging positions, the remaining power of the charging base station, the operating status of the battery replacement device, and the number of remaining batteries in the charging base station. The battery replacement device can be a robotic arm, etc., to automatically replace the drone's batteries. The charging base station can wirelessly charge the drone through the charging positions or replace the drone's batteries through the battery replacement device, thereby restoring the drone's power.

[0098] The ground control center can generate a return-to-charge instruction based on the estimated arrival time of the drone at the charging base station (i.e., estimated arrival time), the drone's battery level, and the charging status of the charging base station. In some embodiments, the return-to-charge instruction includes, but is not limited to, at least one of the following: a return-to-charge enable instruction, a return path, a charging method, location data of the charging station's charging position, and location data of the charging base station's battery replacement equipment. The ground control center can select a battery recovery method for the drone, such as wireless charging or battery replacement, based on the drone's battery level and / or the charging status of the charging base station, further determine the charging position or battery replacement equipment where the drone needs to land, and intelligently plan the return path for the drone.

[0099] Upon receiving a return-to-charge instruction, the drone returns to the charging base station along the return path. The location data of the return path and the charging base station can be determined by the ground control center, as described in the above embodiment. The return-to-charge instruction may include the return path and location data related to the charging base station. Of course, in practical applications, the return path can also be planned autonomously by the drone. For example, the return-to-charge instruction may include location data related to the charging base station, and the drone plans its return path accordingly; alternatively, both the return path and the charging base station can be selected and planned autonomously by the drone. For instance, the drone may select the nearest charging base station and plan its return path to it. This application embodiment does not limit this approach.

[0100] After the drone returns to the charging base station, the charging base station can wirelessly charge the drone or replace its battery. In some embodiments, the ground control center monitors the drone's charging data during the charging process at the charging base station; if the drone's charging data meets the charging alarm conditions, the center controls the charging base station to stop charging the drone and execute a charging alarm operation.

[0101] The charging base station can be a component of the ground control center, or the ground control center can establish a communication connection with the charging base station. Thus, during the charging process, the charging base station can send real-time charging data of the drone to the ground control center, enabling the ground control center to monitor the drone's charging data in real time. This charging data includes, but is not limited to, at least one of the following: charging voltage, charging current, and charging temperature. Furthermore, the ground control center has preset charging alarm conditions. If the drone's charging data meets the charging alarm conditions, the ground control center can control the charging base station to stop charging the drone and execute charging alarm operations, such as audible and visual alarms, sending alarm information to the administrator, etc. In some embodiments, the charging alarm conditions include at least one of the following: charging voltage greater than a voltage threshold, charging current greater than a current threshold, and charging temperature greater than a temperature threshold.

[0102] In summary, the technical solution provided in this application allows the UAV to continuously send location and battery data to the ground control center during its patrol mission. The ground control center determines the UAV's return-trip battery threshold in real time based on its location data, and sends a return-trip charging command to the UAV when the current battery level indicated by the battery data is less than the return-trip battery threshold. By managing the charging schedule for the UAV through the ground control center, intelligent return-trip functionality is achieved, ensuring the UAV returns to the charging base station before its battery is depleted, thus guaranteeing timely battery recovery. In this application embodiment, the return-trip charging threshold used to determine whether the UAV should return to the charging base station is determined in real time based on the UAV's location data, ensuring a reasonable and accurate setting of the return-trip charging threshold. This effectively ensures that the UAV can return to the charging base station in time before its battery is depleted, contributing to improved stability of the UAV patrol system.

[0103] In some embodiments, the above-described UAV inspection method further includes: when the UAV meets the warning operation conditions, determining a warning power threshold based on the UAV's inspection mission, the UAV's flight power consumption, and the UAV's battery capacity; and when the UAV performs the inspection mission, performing a preset return operation based on a comparison between the UAV's current power level and the warning power threshold.

[0104] The warning operation conditions include: communication interruption between the drone and the ground control center. In practical applications, communication between the drone and the ground control center may be interrupted due to factors such as severe weather or poor signal quality. In this case, to ensure that the drone can restore its power in time before it runs out of power, the drone can monitor its power level and plan its return trip automatically. Of course, the warning operation conditions can also include other conditions. For example, users can flexibly set the drone to plan its return trip automatically according to their needs, so the warning operation conditions include receiving user-set operations; or, the warning operation conditions can include deteriorating weather conditions, etc.

[0105] When the early warning operation conditions are met, the UAV automatically determines the early warning power threshold based on its patrol mission, flight power consumption, and battery capacity. This early warning power threshold may include at least one power threshold. Then, during the patrol mission, the UAV automatically determines whether it needs to return and executes a preset return operation by comparing its current power level with the early warning power threshold.

[0106] The warning battery threshold can include multiple battery thresholds, allowing the drone to implement a tiered warning mechanism based on a comparison between its current battery level and the warning battery threshold. This means the pre-set return operation is hierarchical. In some embodiments, the warning battery threshold includes a first battery threshold, a second battery threshold, and a third battery threshold that decrease sequentially. The drone performs a pre-set return operation based on a comparison between its current battery level and the warning battery threshold, including: if the drone's current battery level is less than the first battery threshold but greater than or equal to the second battery threshold, the drone determines a return path; if the drone's current battery level is less than the second battery threshold but greater than or equal to the third battery threshold, the drone returns to the charging base station in energy-saving mode according to the return path; if the drone's current battery level is less than the third battery threshold, the drone interrupts the patrol mission and returns to the charging base station according to the return path. It should be understood that if the drone's current battery level is less than the first battery threshold, the drone can continuously plan a return path; however, if the drone's current battery level is less than the second battery threshold but greater than the third battery threshold, the drone plans a return path targeting the nearest charging base station; and if the drone's current battery level is less than the third battery threshold, the drone plans a return path targeting the shortest path.

[0107] For example, the warning battery thresholds include a first battery threshold, a second battery threshold, and a third battery threshold, which decrease sequentially: the first battery threshold is 30%, the second battery threshold is 20%, and the third battery threshold is 10%. When the drone's current battery level is less than 40%, the drone can start recording the current battery level and compare it with 30%; when the drone's current battery level is less than 30%, the drone can start planning its return route and compare it with 20%; when the drone's current battery level is less than 20%, the drone can use the nearest charging station as the planning target for its return route and accelerate its return to the charging station in energy-saving mode, comparing its current battery level with 10%; when the drone's current battery level is less than 10%, the drone can use the shortest return route as the planning target and interrupt the patrol mission to forcibly return to the charging station.

[0108] In summary, the technical solution provided in this application allows the drone to automatically determine the warning battery threshold and decide whether to return to its charging base before the battery is depleted, provided that the warning operation conditions are met. By setting the warning operation conditions and enabling the drone to plan its return trip automatically, the system can ensure that the drone returns to its charging base before the battery is exhausted, even if communication between the drone and the ground control center is interrupted. This further improves the stability and reliability of the drone patrol system.

[0109] It should be noted that in the above embodiments, the UAV inspection method is described from the perspective of the interaction between the UAV and the ground control center. In practical applications, the steps performed by the ground control center can be implemented separately as a UAV inspection method on the ground control center side, and the steps performed by the UAV can be implemented separately as a UAV inspection method on the UAV side, as shown below.

[0110] Please see Figure 8 , Figure 8 This is a flowchart of another UAV inspection method provided in an embodiment of this application. This UAV inspection method can be applied to a ground control center. Figure 8 As shown, the UAV inspection method may include the following steps S810 to S840.

[0111] Step S810: Send inspection instructions to the drone so that the drone can perform inspection tasks according to the inspection path;

[0112] Step S820: During the patrol mission, receive location data and battery data from the drone;

[0113] Step S830: Determine the return trip battery threshold for the drone based on its location data;

[0114] Step S840: If the current battery level indicated by the drone's battery data is less than the return trip battery threshold, send a return trip charging command to the drone so that the drone returns to the charging base station along the return path.

[0115] In some embodiments, step S830 may include: determining the distance between the drone and the charging base station based on the drone's location data and the charging base station's location data; and determining the drone's return trip battery threshold based on the distance data.

[0116] In some embodiments, the charging base station meets target charging conditions, which include at least one of the following: the current distance to the drone is the closest; there is an available charging spot; there is a replaceable battery.

[0117] In some embodiments, step S840 may include: if the current battery level indicated by the drone's battery data is less than the return battery threshold, generating a return charging instruction based on the drone's estimated arrival time, the drone's battery data, and the charging status of the charging base station; and sending the return charging instruction to the drone so that the drone returns to the charging base station along the return path.

[0118] In some embodiments, the charging status of a charging base station includes at least one of the following: the occupancy status of the charging position of the charging base station, the remaining power of the charging base station, the working status of the battery replacement equipment of the charging base station, and the remaining number of batteries in the charging base station.

[0119] In some embodiments, the return charging instruction includes at least one of the following: a return charging enable instruction, a return path, a charging method, location data of the charging position at the charging base station, and location data of the battery replacement device at the charging base station.

[0120] In some embodiments, the drone inspection method further includes: monitoring the drone's charging data during the charging process at the charging base station; and controlling the charging base station to stop charging the drone and perform a charging alarm operation when the drone's charging data meets the charging alarm conditions.

[0121] In some embodiments, the charging alarm conditions include at least one of the following: the charging voltage is greater than a voltage threshold, the charging current is greater than a current threshold, and the charging temperature is greater than a temperature threshold.

[0122] Please see Figure 9 , Figure 9 This is a flowchart illustrating another UAV inspection method provided in an embodiment of this application. This UAV inspection method can be applied to UAVs. Figure 9 As shown, the UAV inspection method may include the following steps S910 to S930.

[0123] Step S910: Upon receiving the inspection instruction from the ground control center, execute the inspection task according to the inspection path;

[0124] Step S920: During the patrol mission, the drone's location data and battery data are sent to the ground control center so that the ground control center can determine the return battery threshold and decide whether to issue a return charging command to the drone.

[0125] Step S930: Upon receiving a return charging instruction from the ground control center, return to the charging base station according to the return route.

[0126] In some embodiments, the UAV inspection method further includes: when the warning operation conditions are met, determining a warning power threshold based on the UAV's inspection mission, the UAV's flight power consumption, and the UAV's battery capacity; and during the execution of the inspection mission, performing a preset return operation based on a comparison between the UAV's current power level and the warning power threshold.

[0127] In some embodiments, the warning operation conditions include: communication interruption between the drone and the ground control center.

[0128] In some embodiments, the warning power threshold includes a first power threshold, a second power threshold, and a third power threshold that decrease sequentially. The aforementioned execution of a preset return trip operation based on a comparison between the drone's current power level and the warning power threshold includes: determining a return path when the drone's current power level is less than the first power threshold but greater than or equal to the second power threshold; returning to the charging base station in energy-saving mode according to the return path when the drone's current power level is less than the second power threshold but greater than or equal to the third power threshold; and interrupting the patrol mission and returning to the charging base station according to the return path when the drone's current power level is less than the third power threshold.

[0129] For descriptions and explanations of the steps and benefits of the UAV patrol method at the ground control center, as well as the UAV-side UAV patrol method, please refer to the above. Figure 7 The descriptions of the embodiments and the unmanned aerial vehicle (UAV) patrol system embodiments are not repeated here.

[0130] To facilitate better implementation of the UAV inspection method provided in this application, this application also provides a computer-readable storage medium storing a computer program or instructions thereon. When executed by a processor, the computer program or instructions implement the steps in the UAV inspection method described above. For example, it implements the steps in the UAV inspection method on the ground control center side as described above, or it implements the steps in the UAV inspection method on the UAV side as described above.

[0131] This application embodiment also provides a ground control center, which includes a first memory and a first processor. The first memory stores computer programs or instructions. When the computer programs or instructions are executed by the first processor, the first processor performs the following steps: sending a patrol instruction to a drone to cause the drone to perform a patrol task according to a patrol path; receiving location data and power data from the drone during the drone's patrol task; determining a return-trip power threshold for the drone based on the drone's location data; and sending a return-trip charging instruction to the drone when the current power level indicated by the drone's power data is less than the return-trip power threshold, so that the drone returns to the charging base station according to the return path.

[0132] This application embodiment also provides a drone, which includes a second memory and a second processor. The second memory stores computer programs or instructions. When the computer programs or instructions are executed by the second processor, the second processor performs the following steps: upon receiving a patrol instruction from a ground control center, it performs a patrol task according to a patrol path; during the patrol task, it sends the drone's location data and battery data to the ground control center so that the ground control center can determine the return battery threshold and decide whether to issue a return charging instruction to the drone; upon receiving a return charging instruction from the ground control center, it returns to the charging base station according to the return path.

[0133] The first and second processors mentioned above can be general-purpose processors or special-purpose processors. For example, they can be central processing units (CPUs), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0134] The first memory can be independent of the first processor or integrated into the first processor; the second memory can be independent of the second processor or integrated into the second processor. Computer programs or instructions in the first memory can be executed by the first processor; computer programs or instructions in the second memory can be executed by the second processor.

[0135] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. The computer-readable storage medium stores a computer program or instructions, which are loaded by a processor to execute the steps described in the above method embodiments of this application. For example, the computer program loaded by the processor can execute the following steps: sending a patrol instruction to the drone to cause the drone to perform a patrol task according to a patrol path; receiving location data and battery data from the drone during the drone's patrol task; determining the drone's return battery threshold based on the drone's location data; and sending a return charging instruction to the drone when the current battery level indicated by the drone's battery data is less than the return battery threshold, so that the drone returns to the charging base station according to the return path. For example, the computer program loaded by the processor can execute the following steps: upon receiving a patrol instruction from the ground control center, it performs a patrol task according to the patrol path; during the patrol task, it sends the drone's location data and battery data to the ground control center so that the ground control center can determine the return battery threshold and decide whether to issue a return charging instruction to the drone; upon receiving a return charging instruction from the ground control center, it returns to the charging base station according to the return path.

[0136] For details on the implementation of each of the above operations / steps, please refer to the previous examples, which will not be repeated here.

[0137] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0138] Since the computer program or instructions stored in the computer-readable storage medium can execute the steps in any of the above method embodiments provided in the embodiments of this application, the beneficial effects that the methods described in any of the above method embodiments can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0139] This application also provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, they implement the steps in any of the above method embodiments. Therefore, the beneficial effects that the methods described in any of the above method embodiments can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0140] The above provides a detailed description of the UAV inspection method, medium, ground control center, UAV, and system provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for unmanned aerial vehicle (UAV) inspection, characterized in that, The UAV patrol method, applied in ground control centers, includes: Send inspection commands to the drone so that the drone can perform inspection tasks according to the inspection path; During the patrol mission, the drone receives location data and battery data from itself. Based on the location data of the drone, determine the return trip battery threshold of the drone; If the current battery level indicated by the battery data of the drone is less than the return trip battery threshold, a return trip charging command is sent to the drone so that the drone returns to the charging base station according to the return route.

2. The UAV patrol method according to claim 1, characterized in that, Determining the return battery threshold for the drone based on the drone's location data includes: Based on the location data of the drone and the location data of the charging base station, the distance data between the drone and the charging base station is determined; Based on the distance data, the return trip battery threshold of the drone is determined.

3. The UAV inspection method according to claim 2, characterized in that, The charging base station meets the target charging conditions, and the target charging conditions include at least one of the following: The current distance to the drone is the closest; There are currently available charging slots; Replaceable batteries are currently available.

4. The UAV inspection method according to claim 1, characterized in that, When the current battery level indicated by the battery data of the drone is less than the return trip battery threshold, sending a return trip charging command to the drone so that the drone returns to the charging base station according to the return path includes: If the current battery level indicated by the battery data of the drone is less than the return trip battery threshold, the return trip charging instruction is generated based on the expected arrival time of the drone, the battery data of the drone, and the charging status of the charging base station. The return-to-charge command is sent to the drone so that the drone returns to the charging base station along the return path.

5. The UAV inspection method according to claim 4, characterized in that, The charging status of the charging base station includes at least one of the following: the occupancy status of the charging position of the charging base station, the remaining power of the charging base station, the working status of the battery replacement equipment of the charging base station, and the number of remaining batteries of the charging base station.

6. The UAV inspection method according to claim 4, characterized in that, The return charging instruction includes at least one of the following: return charging enable instruction, the return path, the charging method, the location data of the charging position of the charging base station, and the location data of the battery replacement device of the charging base station.

7. The UAV inspection method according to claim 1, characterized in that, The drone inspection method also includes: During the charging process of the drone at the charging base station, the charging data of the drone is monitored. If the charging data of the drone meets the charging alarm conditions, the charging base station is controlled to stop charging the drone and execute a charging alarm operation.

8. The UAV inspection method according to claim 7, characterized in that, The charging alarm conditions include at least one of the following: the charging voltage is greater than the voltage threshold, the charging current is greater than the current threshold, and the charging temperature is greater than the temperature threshold.

9. A method for unmanned aerial vehicle (UAV) inspection, characterized in that, Applied to unmanned aerial vehicles (UAVs), the UAV inspection method includes: Upon receiving inspection instructions from the ground control center, the inspection mission is carried out according to the inspection route. During the patrol mission, the location and power data of the UAV are sent to the ground control center so that the ground control center can determine the return power threshold and decide whether to issue a return charging command to the UAV. Upon receiving the return charging instruction from the ground control center, the vehicle returns to the charging base station along the return route.

10. The UAV inspection method according to claim 9, characterized in that, The drone inspection method also includes: Under the condition that the early warning operation is met, the early warning power threshold is determined based on the patrol mission of the UAV, the flight power consumption of the UAV, and the battery capacity of the UAV. During the patrol mission, a preset return operation is performed based on a comparison between the current battery level of the drone and the warning battery threshold.

11. The UAV patrol method according to claim 10, characterized in that, The early warning operation conditions include: the communication between the UAV and the ground control center is interrupted.

12. The UAV patrol method according to claim 10, characterized in that, The warning power threshold includes a first power threshold, a second power threshold, and a third power threshold that decrease sequentially. The step of performing a preset return operation based on a comparison between the current battery level of the drone and the warning battery threshold includes: If the current battery level of the drone is less than the first battery threshold and greater than or equal to the second battery threshold, the return route is determined. If the current battery level of the drone is less than the second battery threshold and greater than or equal to the third battery threshold, it returns to the charging base station in energy-saving mode according to the return route. If the current battery level of the drone is less than the third battery threshold, the patrol mission is interrupted and the drone returns to the charging base station along the return route.

13. A computer-readable storage medium, characterized in that, It stores computer programs or instructions, which, when executed by a processor, implement the steps in the UAV inspection method as described in any one of claims 1 to 8, or implement the steps in the UAV inspection method as described in any one of claims 9 to 12.

14. A ground control center, characterized in that, The system includes a first memory and a first processor. The first memory stores a computer program or instructions, which, when executed by the first processor, cause the first processor to perform the following steps: Send inspection commands to the drone so that the drone can perform inspection tasks according to the inspection path; During the patrol mission, the drone receives location data and battery data from itself. Based on the location data of the drone, determine the return trip battery threshold of the drone; If the current battery level indicated by the battery data of the drone is less than the return trip battery threshold, a return trip charging command is sent to the drone so that the drone returns to the charging base station according to the return route.

15. An unmanned aerial vehicle (UAV), characterized in that, The system includes a second memory and a second processor. The second memory stores a computer program or instructions, which, when executed by the second processor, cause the second processor to perform the following steps: Upon receiving inspection instructions from the ground control center, the inspection mission is carried out according to the inspection route. During the patrol mission, the location and power data of the UAV are sent to the ground control center so that the ground control center can determine the return power threshold and decide whether to issue a return charging command to the UAV. Upon receiving the return charging instruction from the ground control center, the vehicle returns to the charging base station along the return route.

16. A drone patrol system, characterized in that, The unmanned aerial vehicle (UAV) patrol system includes: a UAV (100), a ground control center (200), and a charging base station (300); wherein, The ground control center (200) is used to: send patrol instructions to the UAV (100); The drone (100) is used to: upon receiving the patrol instruction, perform patrol tasks according to the patrol path; and during the execution of the patrol tasks, send the drone (100)'s location data and battery data to the ground control center (200); The ground control center (200) is also configured to: determine the return battery threshold of the UAV (100) based on the location data of the UAV (100); and send a return charging instruction to the UAV (100) if the current battery level indicated by the battery data of the UAV (100) is less than the return battery threshold. The drone (100) is also used to: upon receiving the return charging instruction, return to the charging base station (300) according to the return path.

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