Hydropower station slope inspection method, device and equipment based on unmanned aerial vehicle and medium

Abstract

The embodiment of the invention provides a hydropower station slope inspection method, device and equipment based on an unmanned aerial vehicle, and a medium, and the method comprises the steps: constructing a first inspection region based on the edge of a slope, dividing the first inspection region into at least one second inspection region based on gradients at different heights, and carrying out the inspection of a single second inspection region, and dividing the areas with the same gradient and slope direction into the same third inspection area, and generating a corresponding inspection route based on the first inspection area, the second inspection area and the third inspection area, so that the unmanned aerial vehicle sequentially executes the inspection routes of the first inspection area, the second inspection area and the third inspection area. The single detection view of the second inspection area is smaller than the single detection view of the first inspection area and larger than the single detection view of the third inspection area, and the inspection routes of the second inspection area and the third inspection area cover the risk area, so that graded inspection of the side slope and refined inspection of the risk area can be realized; therefore, the efficiency and pertinence of risk investigation are improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of hydropower station slope inspection, in particular to a hydropower station slope inspection method, device, equipment and medium based on a UAV. BACKGROUND

[0002] In a hydropower station project, traditional slope monitoring mainly relies on manual inspection or fixed monitoring equipment, which has problems such as low efficiency, high cost, and limited coverage, and is difficult to cope with complex terrain and adverse weather conditions. With the rapid development of UAV technology, the application of UAV in slope inspection has gradually become a research hotspot.

[0003] The existing UAV inspection is to perform a detailed inspection on the entire slope according to the inspection route. However, the distribution range of the hydropower station slope is wide and the scale is large, and the traditional detailed inspection mode is time-consuming, and lacks a key classification mechanism for different regional risk levels, which affects the efficiency and pertinence of risk investigation. SUMMARY

[0004] The embodiments described herein provide a hydropower station slope inspection method, device, equipment and medium based on a UAV, which can realize hierarchical inspection of the slope and detailed inspection of the risk area to improve the efficiency and pertinence of risk investigation.

[0005] In a first aspect, the present disclosure provides a hydropower station slope inspection method based on a UAV, comprising:

[0006] Based on the edge of the slope, a first inspection area is constructed; based on the slope gradient at different slope heights, the first inspection area is divided into at least one second inspection area; for a single second inspection area, the areas with the same slope gradient and slope aspect are divided into the same third inspection area to form a plurality of third inspection areas; based on the first inspection area, the second inspection area and the third inspection area, a corresponding inspection route is generated, so that the UAV executes the inspection route of the first inspection area, the second inspection area and the third inspection area in turn.

[0007] Among them, the single detection field of view of the first inspection area is greater than that of the second inspection area, the single detection field of view of the second inspection area is greater than that of the third inspection area, and the inspection route of the second inspection area and the third inspection area covers the risk area.

[0008] In some embodiments of the present disclosure, before the first inspection area is divided into at least one second inspection area based on the slope gradient at different slope heights, the method further comprises:

[0009] acquire horizontal distances and vertical distances of the different slope heights in the first inspection area; determine the slope gradients of the different slope heights based on the horizontal distances and the vertical distances of the different slope heights.

[0010] In some embodiments of the present disclosure, the dividing the first inspection area into at least one second inspection area based on the slope gradients of different slope heights comprises:

[0011] when the slope gradients of adjacent slope heights in the first inspection area are different, dividing the areas corresponding to the adjacent slope heights into different second inspection areas; when the slope gradients of the adjacent slope heights in the first inspection area are the same, merging the areas corresponding to the adjacent slope heights to form a second inspection area.

[0012] In some embodiments of the present disclosure, the dividing the areas with the same slope gradient and slope aspect into the same third inspection area to form a plurality of third inspection areas comprises:

[0013] determining a slope-aspect grid map of the second inspection area based on the slope grid map and the aspect grid map of the second inspection area, each slope-aspect cell in the slope-aspect grid map corresponding to an array composed of the slope gradient and the slope aspect; when the values of the arrays corresponding to adjacent slope-aspect cells are the same, merging the adjacent slope-aspect cells to form a third inspection area; when the values of the arrays corresponding to the adjacent slope-aspect cells are different, dividing the adjacent slope-aspect cells into different third inspection areas.

[0014] In some embodiments of the present disclosure, the determining the slope-aspect grid map of the second inspection area based on the slope grid map and the aspect grid map of the second inspection area comprises:

[0015] determining the slope gradient corresponding to each slope cell in the slope grid map of the second inspection area based on the horizontal distance and the vertical distance corresponding to each slope cell in the slope grid map of the second inspection area; determining the slope aspect corresponding to each aspect cell in the aspect grid map of the second inspection area based on the horizontal distance and the vertical distance corresponding to each aspect cell in the aspect grid map of the second inspection area; merging the slope grid map of the second inspection area and the slope gradient corresponding to each slope cell in the slope grid map of the second inspection area, and the aspect grid map of the second inspection area and the slope aspect corresponding to each aspect cell in the aspect grid map of the second inspection area, to obtain the slope-aspect grid map of the second inspection area.

[0016] In some embodiments of the present disclosure, the generating corresponding inspection routes based on the first inspection area, the second inspection area, and the third inspection area comprises:

[0017] A first inspection route is generated based on the first inspection area; a second inspection route is generated based on the execution result of the UAV on the first inspection route and the at least one second inspection area; a third inspection route is generated based on the execution result of the UAV on the second inspection route and the plurality of third inspection areas.

[0018] In some embodiments of this disclosure, generating a second inspection route based on the execution result of the UAV on the first inspection route and the at least one second inspection area includes:

[0019] Based on the execution result of the UAV on the first inspection route, a first risk zone is determined in the first inspection area; a second inspection area where the first risk zone is located is determined from the at least one second inspection area; and a second inspection route is generated based on the second inspection area where the first risk zone is located.

[0020] The generation of the third inspection route based on the execution result of the UAV on the second inspection route and the multiple third inspection areas includes:

[0021] Based on the execution result of the UAV on the second inspection route, a second risk area is determined from the first risk area, the first risk area including the second risk area; a third inspection area where the second risk area is located is determined from the plurality of third inspection areas; and the third inspection route is generated based on the third inspection area where the second risk area is located.

[0022] Secondly, this disclosure provides a drone-based hydropower station slope inspection device, comprising:

[0023] The region construction module is used to construct the first inspection area based on the slope edge.

[0024] The region division module is used to divide the first inspection area into at least one second inspection area based on the slope gradient at different slope heights; for a single second inspection area, areas with the same slope gradient and slope aspect are divided into the same third inspection area to form multiple third inspection areas.

[0025] The route generation module is used to generate corresponding inspection routes based on the first inspection area, the second inspection area, and the third inspection area, so that the UAV sequentially executes the inspection routes of the first inspection area, the second inspection area, and the third inspection area.

[0026] The single-detection field of view of the first inspection area is larger than that of the second inspection area, the single-detection field of view of the second inspection area is larger than that of the third inspection area, and the inspection routes of the second and third inspection areas cover the risk area.

[0027] Thirdly, this disclosure provides an electronic device including a processor for executing a computer program stored in a memory, wherein the computer program, when executed by the processor, implements the steps of any of the methods provided in the first aspect.

[0028] Fourthly, this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods provided in the first aspect.

[0029] In the technical solution provided in this disclosure, a first inspection area is constructed based on the edge of the slope. Based on the slope gradient at different slope heights, the first inspection area is divided into at least one second inspection area. For a single second inspection area, areas with the same slope gradient and slope direction are divided into the same third inspection area to form multiple third inspection areas. Based on the first, second, and third inspection areas, corresponding inspection routes are generated so that the UAV can sequentially execute the inspection routes of the first, second, and third inspection areas to achieve graded inspection of the slope.

[0030] In addition, by setting the single detection field of view of the first inspection area to be larger than that of the second inspection area, and the single detection field of view of the second inspection area to be larger than that of the third inspection area, and by having the inspection routes of the second and third inspection areas cover the risk area, the risk area can be inspected in a more refined manner, thereby improving the efficiency and pertinence of risk investigation. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. It should be understood that the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure, wherein:

[0032] Figure 1 This is a flowchart illustrating a method for inspecting the slope of a hydropower station based on an unmanned aerial vehicle (UAV) according to an embodiment of this disclosure.

[0033] Figure 2 This is a schematic diagram of an inspection area provided in an embodiment of the present disclosure.

[0034] Figure 3 This is a schematic diagram of a slope inspection device for a hydropower station based on an unmanned aerial vehicle (UAV) provided in an embodiment of this disclosure.

[0035] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are also within the scope of protection of this disclosure.

[0037] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this subject matter pertains. It will be further understood that terms such as those defined in commonly used dictionaries shall be interpreted as having meanings consistent with their meanings in the context of the specification and in the relevant art, and shall not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. Furthermore, terms such as “first” and “second” are used only to distinguish one component (or part of a component) from another component (or another part of a component).

[0038] Figure 1 A flowchart illustrating a method for inspecting the slope of a hydropower station based on unmanned aerial vehicles (UAVs) provided in this disclosure is shown below. Figure 1 As shown, the specific steps of the UAV-based hydropower station slope inspection method include:

[0039] S101, based on the edge of the slope, constructs the first inspection area.

[0040] For example, the overall edge of the slope is obtained, and based on the overall edge of the slope, the first inspection area is constructed, such as... Figure 2 As shown, the first inspection area is the area enclosed by the overall edge of the slope. Figure 2 This is a schematic diagram of an inspection area provided in an embodiment of the present disclosure.

[0041] S102, based on the slope gradient at different slope heights, divide the first inspection area into at least one second inspection area.

[0042] For example, before executing S102, the horizontal distance X and vertical distance Y at different slope heights in the first inspection area are obtained first, and then the slope angle θ at different slope heights is determined based on the horizontal distance X and vertical distance Y at different slope heights.

[0043] For example, by substituting the horizontal distance X and vertical distance Y at different slope heights into the formula θ=arctan(X / Y), the slope angle θ at different slope heights can be calculated.

[0044] A specific description of one possible implementation of S102 is as follows:

[0045] Determine whether the slope gradients of adjacent slopes at the same height are the same in the first inspection area. If the slope gradients of adjacent slopes at the same height are different in the first inspection area, divide the areas corresponding to the adjacent slope heights into different second inspection areas. If the slope gradients of adjacent slopes at the same height are the same in the first inspection area, merge the areas corresponding to the adjacent slope heights to form a second inspection area.

[0046] For example, the slope heights in the first inspection area are H1, H2 and H3, and H1>H2>H3. Then the adjacent slope heights are slope heights H1 and H2 and slope heights H2 and H3, where the slope gradient under slope height H1 is θ1, the slope gradient under slope height H2 is θ2, and the slope gradient under slope height H3 is θ3.

[0047] If θ1 = θ2, the slope areas corresponding to slope height H1 and slope areas corresponding to slope height H2 are merged into a second inspection area; based on this, if θ2 = θ3, the slope areas corresponding to slope height H2 and slope areas corresponding to slope height H3 are merged into a second inspection area. Then, the second inspection areas containing the slope areas corresponding to slope height H1, slope height H2, and slope height H3 are the same second inspection area.

[0048] In this way, the first inspection area can be divided into a second inspection area, such as... Figure 2 As shown.

[0049] If θ1 = θ2, the slope areas corresponding to slope height H1 and slope areas corresponding to slope height H2 are merged into a second inspection area; based on this, if θ2 ≠ θ3, the slope area corresponding to slope height H3 is divided into another second inspection area. Then the second inspection areas where the slope areas corresponding to slope height H1 and slope height H2 are located are the same second inspection area, but different from the second inspection area where the slope area corresponding to slope height H3 is located.

[0050] Similarly, if θ1≠θ2=θ3, the slope area corresponding to slope height H1 is divided into a second inspection area, and the slope areas corresponding to slope height H2 and slope height H3 are merged into another second inspection area. Then, the second inspection areas where the slope areas corresponding to slope height H2 and slope height H3 are located are the same second inspection area, but different from the second inspection area where the slope area corresponding to slope height H1 is located.

[0051] If θ1≠θ2≠θ3, divide the slope area corresponding to slope height H1 into one second inspection area, the slope area corresponding to slope height H2 into another second inspection area, and the slope area corresponding to slope height H3 into yet another second inspection area. Then the second inspection areas corresponding to slope height H1, H2, and H3 are all different.

[0052] In this way, the first inspection area can be divided into multiple second inspection areas.

[0053] It should be noted that the embodiments disclosed herein are only illustrated by taking the existence of three different slope heights in the first inspection area as an example. In actual engineering, there may be two, four or more different slope heights in the first inspection area. The process of dividing the second inspection area is the same as the above process type, and will not be repeated here.

[0054] S103, for a single second inspection area, areas with the same slope gradient and slope aspect are divided into the same third inspection area to form multiple third inspection areas.

[0055] For example, for a single second inspection area, the slope-aspect raster map of the second inspection area is first determined based on the slope raster map and aspect raster map of the second inspection area.

[0056] Specifically, a slope raster map and an aspect raster map are generated in a single second inspection area. For a single second inspection area, the horizontal distance X and vertical distance Y corresponding to each slope square in the slope raster map of the second inspection area are obtained. Based on the horizontal distance X and vertical distance Y corresponding to each slope square in the slope raster map of the second inspection area, the slope θ corresponding to each slope square is determined.

[0057] Simultaneously, the horizontal distance X and vertical distance Y corresponding to each slope direction grid in the slope direction grid of the second inspection area are obtained. Based on the horizontal distance X and vertical distance Y corresponding to each slope direction grid in the slope direction grid of the second inspection area, the slope direction T corresponding to each slope direction grid is determined.

[0058] For example, substitute the horizontal distance X and vertical distance Y corresponding to each slope square into the formula. The slope aspect T corresponding to each slope aspect grid is calculated.

[0059] For a single second inspection area, the slope raster map of the second inspection area and the slope slope θ corresponding to each slope square, as well as the slope aspect raster map of the second inspection area and the slope aspect T corresponding to each slope aspect square, are merged to obtain the slope-aspect raster map of the second inspection area. Each slope-aspect square in the slope-aspect raster map corresponds to an array (θ, T) consisting of the slope slope θ and the slope aspect T.

[0060] Then, determine whether the values ​​of the corresponding arrays of adjacent slope-aspect grids are the same.

[0061] Specifically, in adjacent slope-aspect grids Gx and Gy, the array corresponding to slope-aspect grid Gx is (θx, Tx), and the array corresponding to slope-aspect grid Gy is (θy, Ty). When θx = θy and Tx = Ty, it means that the values ​​of the corresponding arrays (θx, Tx) and (θy, Ty) of adjacent slope-aspect grids Gx and Gy are the same. When θx ≠ θy or Tx ≠ Ty, it means that the values ​​of the corresponding arrays (θx, Tx) and (θy, Ty) of adjacent slope-aspect grids Gx and Gy are different.

[0062] Finally, when the values ​​of the corresponding arrays of adjacent slope-aspect grids are the same, the adjacent slope-aspect grids are merged to form a third inspection area; when the values ​​of the corresponding arrays of adjacent slope-aspect grids are different, the adjacent slope-aspect grids are divided into different third inspection areas.

[0063] Specifically, the number of slope-aspect grid cells in a single second inspection area is at least 2×2. Based on the above embodiment, if the values ​​of the corresponding arrays (θx, Tx) and (θy, Ty) of adjacent slope-aspect cells Gx and Gy are the same, the adjacent slope-aspect cells Gx and Gy are combined into a third inspection area. If the values ​​of the corresponding arrays (θx, Tx) and (θy, Ty) of adjacent slope-aspect cells Gx and Gy are different, the slope-aspect cell Gx is divided into a third inspection area, and the slope-aspect cell Gy is divided into another third inspection area.

[0064] For example, such as Figure 2 As shown, the slope-aspect grid map of the second inspection area consists of 4×6 slope-aspect squares. The first column of slope-aspect squares, the second column of the third row, and the second column of the fourth row can be merged into a third inspection area. The second to sixth columns of slope-aspect squares in the first row can be merged into another third inspection area. The second to sixth columns of slope-aspect squares in the second row, the third to sixth columns of the third row, and the third to fifth columns of the fourth row can be merged into yet another third inspection area.

[0065] It should be noted that,Figure 2 This example only illustrates dividing a single second inspection area into three third inspection areas. In actual engineering projects, a single second inspection area can be divided into two, four, or more third inspection areas.

[0066] S104 generates corresponding inspection routes based on the first inspection area, the second inspection area, and the third inspection area, so that the UAV executes the inspection routes of the first inspection area, the second inspection area, and the third inspection area in sequence.

[0067] Among them, the single detection field of view of the first inspection area is larger than that of the second inspection area, the single detection field of view of the second inspection area is larger than that of the third inspection area, and the inspection routes of the second and third inspection areas cover the risk area.

[0068] For example, the flight altitude of the UAV when executing the inspection route of the first inspection area is greater than that when executing the inspection route of the second inspection area, and / or the focal length of the lens of the UAV when executing the inspection route of the first inspection area is less than that when executing the inspection route of the second inspection area, so that the single detection field of view of the first inspection area is greater than that of the second inspection area.

[0069] Similarly, by adjusting the flight altitude of the UAV when executing the inspection route of the second inspection area to be greater than that when executing the inspection route of the third inspection area, and / or by adjusting the lens focal length of the UAV when executing the inspection route of the second inspection area to be less than that when executing the inspection route of the third inspection area, the single detection field of view of the second inspection area can be made greater than that of the third inspection area.

[0070] In this way, the inspection route of the drone in the first inspection area can be understood as low-precision inspection, the inspection route in the second inspection area can be understood as medium-precision inspection, and the inspection route in the third inspection area can be understood as high-precision inspection, thus realizing graded inspection of slopes.

[0071] For example, a specific description of one possible implementation when executing S104 is as follows:

[0072] First, a first inspection route is generated based on the first inspection area so that the UAV can execute the first inspection route.

[0073] Specifically, multiple first inspection points are set up along the first inspection route. During the execution of the first inspection route, the UAV will inspect the slope within its current field of view at each first inspection point to obtain the corresponding data information. Therefore, after the UAV completes the first inspection route, it can obtain the data information of the slope at all first inspection points, thereby obtaining the execution result of the first inspection route.

[0074] Then, based on the execution results of the UAV for the first inspection route and at least one second inspection area, a second inspection route is generated so that the UAV can execute the second inspection route.

[0075] Specifically, based on the execution results of the UAV along the first inspection route, the first risk zone within the first inspection area is determined. For example, the execution results of the first inspection route can be analyzed to obtain abnormal data information. Based on the coordinates of the first detection point corresponding to the abnormal data information, the field of view corresponding to that first detection point is determined as the first risk zone.

[0076] The second inspection area containing the first risk area is determined from at least one second inspection area. For example, the first risk area is compared with each second inspection area to determine the second inspection area containing the first risk area. The second inspection area containing the first risk area may be one or more.

[0077] A second inspection route is generated based on the second inspection area where the first risk zone is located, so that the drone can execute the second inspection route.

[0078] Specifically, the second inspection route covers the first risk area. Multiple second inspection points are set up along the second inspection route. During the execution of the second inspection route, the drone will inspect the slope within its current field of view at each second inspection point to obtain the corresponding data information. Therefore, after the drone completes the second inspection route, it can obtain the data information of all the second inspection points in the first risk area, thereby obtaining the execution result of the second inspection route for inspecting the risk area.

[0079] Finally, based on the execution results of the UAV on the second inspection route and multiple third inspection areas, a third inspection route is generated so that the UAV can execute the third inspection route.

[0080] Specifically, based on the execution results of the UAV on the second inspection route, the second risk zone is determined from the first risk zone, and the first risk zone includes the second risk zone. For example, the execution results of the second inspection route can be analyzed to obtain abnormal data information. Based on the coordinates of the second detection point corresponding to the abnormal data information, the field of view corresponding to the second detection point is determined as the second risk zone.

[0081] The third inspection area where the second risk area is located is determined from multiple third and second inspection areas. For example, the second risk area is compared with all the third inspection areas corresponding to the second inspection area where the first risk area is located to determine the third inspection area where the second risk area is located. The third inspection area where the second risk area is located may be one or multiple.

[0082] Based on the third inspection area where the second risk zone is located, a third inspection route is generated so that the drone can execute the third inspection route.

[0083] Specifically, the third inspection route covers the second risk area. Multiple third inspection points are set up along the third inspection route. During the execution of the third inspection route, the drone will inspect the slope within its current field of view at each third inspection point to obtain the corresponding data information. Therefore, after the drone completes the third inspection route, it can obtain the data information of all the third inspection points in the second risk area, thereby obtaining the execution result of the third inspection route, so as to carry out a refined inspection of the risk area.

[0084] The execution results of the third inspection route can be analyzed to obtain abnormal data information. Based on the coordinates of the third inspection point corresponding to the abnormal data information, the field of view corresponding to the third inspection point can be determined as the target risk area to achieve precise positioning of the risk area.

[0085] In summary, the embodiments of this disclosure construct a first inspection area based on the slope edge, divide the first inspection area into at least one second inspection area based on the slope gradient at different slope heights, and for a single second inspection area, divide areas with the same slope gradient and slope direction into the same third inspection area to form multiple third inspection areas. Based on the first, second, and third inspection areas, corresponding inspection routes are generated so that the UAV can sequentially execute the inspection routes of the first, second, and third inspection areas to achieve graded inspection of the slope.

[0086] In addition, by setting the single detection field of view of the first inspection area to be larger than that of the second inspection area, and the single detection field of view of the second inspection area to be larger than that of the third inspection area, and by having the inspection routes of the second and third inspection areas cover the risk area, the risk area can be inspected in a more refined manner, thereby improving the efficiency and pertinence of risk investigation.

[0087] This disclosure also provides a drone-based hydropower station slope inspection device. Figure 3 A schematic diagram of a UAV-based hydropower station slope inspection device provided in this disclosure is shown below. Figure 3 As shown, the drone-based hydropower station slope inspection device includes:

[0088] The region construction module 110 is used to construct the first inspection area based on the slope edge.

[0089] The area division module 120 is used to divide the first inspection area into at least one second inspection area based on the slope gradient at different slope heights; for a single second inspection area, areas with the same slope gradient and slope direction are divided into the same third inspection area to form multiple third inspection areas.

[0090] The route generation module 130 is used to generate corresponding inspection routes based on the first inspection area, the second inspection area, and the third inspection area, so that the UAV sequentially executes the inspection routes of the first inspection area, the second inspection area, and the third inspection area.

[0091] The single detection field of view of the first inspection area is larger than that of the second inspection area, the single detection field of view of the second inspection area is larger than that of the third inspection area, and the inspection routes of the second inspection area and the third inspection area cover the risk area.

[0092] In some embodiments, the drone-based hydropower station slope inspection device further includes:

[0093] The determination module is used to obtain the horizontal and vertical distances at different slope heights in the first inspection area; and to determine the slope gradient at the different slope heights based on the horizontal and vertical distances at the different slope heights.

[0094] In some embodiments, the region division module 120 is further configured to divide the regions corresponding to the adjacent slope heights into different second inspection regions when the slope gradients of adjacent slope heights in the first inspection region are different; and to merge the regions corresponding to the adjacent slope heights in the first inspection region when the slope gradients of adjacent slope heights are the same to form a second inspection region.

[0095] In some embodiments, the region division module 120 is further configured to determine a slope-aspect grid map of the second inspection region based on the slope grid map and aspect grid map of the second inspection region, wherein each slope-aspect grid cell in the slope-aspect grid map corresponds to an array consisting of the slope and aspect of the slope; when the values ​​of the arrays corresponding to adjacent slope-aspect grid cells are the same, the adjacent slope-aspect grid cells are merged to form a third inspection region; when the values ​​of the arrays corresponding to adjacent slope-aspect grid cells are different, the adjacent slope-aspect grid cells are divided into different third inspection regions.

[0096] In some embodiments, the region division module 120 is further configured to determine the slope corresponding to each slope grid based on the horizontal and vertical distances corresponding to each slope grid in the slope grid of the second inspection area; determine the slope aspect corresponding to each slope aspect grid based on the horizontal and vertical distances corresponding to each slope aspect grid in the slope aspect grid of the second inspection area; and merge the slope grid of the second inspection area and the slope slope corresponding to each slope grid, as well as the slope aspect grid of the second inspection area and the slope aspect corresponding to each slope aspect grid, to obtain the slope-slope aspect grid of the second inspection area.

[0097] In some embodiments, the route generation module 130 is further configured to generate a first inspection route based on the first inspection area; generate a second inspection route based on the execution result of the UAV on the first inspection route and the at least one second inspection area; and generate a third inspection route based on the execution result of the UAV on the second inspection route and the plurality of third inspection areas.

[0098] In some embodiments, the route generation module 130 is further configured to: determine a first risk area in the first inspection area based on the execution result of the UAV on the first inspection route; determine a second inspection area where the first risk area is located from the at least one second inspection area; generate a second inspection route based on the second inspection area where the first risk area is located; determine a second risk area from the first risk area based on the execution result of the UAV on the second inspection route, wherein the first risk area includes the second risk area; determine a third inspection area where the second risk area is located from the plurality of third inspection areas; and generate a third inspection route based on the third inspection area where the second risk area is located.

[0099] The apparatus provided in this disclosure is used to perform the steps provided in any of the above method embodiments, has the functional modules corresponding to the method embodiments, and has the beneficial effects of the method embodiments, which will not be repeated here.

[0100] This disclosure also provides an electronic device, including: a processor, the processor being configured to execute a computer program stored in a memory, the computer program being executed by the processor to implement the steps of the method embodiments of this disclosure.

[0101] Figure 4 This is a schematic diagram of the structure of an electronic device provided in this disclosure. Figure 4 A block diagram is shown that is suitable for implementing embodiments of the present disclosure. Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0102] like Figure 4 As shown, the electronic device 12 is represented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processor 16).

[0103] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0104] Electronic device 12 typically includes a variety of computer system readable media. These media can be any media that can be accessed by electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0105] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (commonly referred to as "hard disk drives"). Disk drives for reading and writing to removable non-volatile disks (e.g., "floppy disks") and optical disk drives for reading and writing to removable non-volatile optical disks (e.g., CD-ROMs, DVD-ROMs, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of this disclosure.

[0106] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of this disclosure.

[0107] The processor 16 performs various functional applications and data processing by running at least one of a plurality of programs stored in the system memory 28, such as implementing the method embodiments provided in this disclosure.

[0108] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method embodiments.

[0109] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0110] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0111] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0112] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or wide area network (WAN) domain—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0113] This disclosure also provides a computer program product that, when run on a computer, causes the computer to perform the steps of the above-described method embodiments.

[0114] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses and methods according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0115] Unless otherwise expressly indicated by the context, the singular form of words used herein and in the appended claims includes the plural form, and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the terms “comprising” and “including” shall be interpreted as including rather than exclusively. Likewise, the terms “including” and “or” shall be interpreted as including unless such interpretation is expressly prohibited herein. Where the term “example” is used herein, particularly when it follows a set of terms, the “example” is merely exemplary and illustrative and should not be considered exclusive or extensive.

[0116] Further aspects and scope of adaptation become apparent from the description provided herein. It should be understood that various aspects of this disclosure may be implemented individually or in combination with one or more other aspects. It should also be understood that the descriptions and specific embodiments herein are for illustrative purposes only and are not intended to limit the scope of this disclosure.

[0117] Several embodiments of this disclosure have been described in detail above. However, it is obvious that those skilled in the art can make various modifications and variations to the embodiments of this disclosure without departing from the spirit and scope of this disclosure. The scope of protection of this disclosure is defined by the appended claims.

Claims

1. A method for inspecting the slope of a hydropower station based on unmanned aerial vehicles (UAVs), characterized in that, include: The first inspection area is constructed based on the edge of the slope. Based on the slope gradient at different slope heights, the first inspection area is divided into at least one second inspection area; For a single second inspection area, areas with the same slope gradient and slope aspect are divided into the same third inspection area to form multiple third inspection areas; Based on the first inspection area, the second inspection area, and the third inspection area, a corresponding inspection route is generated so that the UAV sequentially executes the inspection routes of the first inspection area, the second inspection area, and the third inspection area. Wherein, the single detection field of view of the first inspection area is larger than that of the second inspection area, the single detection field of view of the second inspection area is larger than that of the third inspection area, and the inspection routes of the second inspection area and the third inspection area cover the risk area.

2. The method according to claim 1, characterized in that, Before dividing the first inspection area into at least one second inspection area based on the slope gradient at different slope heights, the method further includes: Obtain the horizontal and vertical distances at different slope heights in the first inspection area; The slope gradient at different slope heights is determined based on the horizontal and vertical distances at those different slope heights.

3. The method according to claim 1, characterized in that, The method of dividing the first inspection area into at least one second inspection area based on the slope gradient at different slope heights includes: When the slope gradients of adjacent slopes in the first inspection area are different, the areas corresponding to the adjacent slope heights are divided into different second inspection areas. When the slopes of adjacent slopes in the first inspection area are the same, the areas corresponding to the adjacent slope heights are merged to form a second inspection area.

4. The method according to claim 1, characterized in that, The step of dividing areas with the same slope gradient and slope aspect into the same third inspection area to form multiple third inspection areas includes: Based on the slope grid map and aspect grid map of the second inspection area, a slope-aspect grid map of the second inspection area is determined. Each slope-aspect grid cell in the slope-aspect grid map corresponds to an array consisting of the slope and aspect of the slope. When the values ​​of the corresponding arrays of adjacent slope-aspect grids are the same, the adjacent slope-aspect grids are merged to form a third inspection area. When the values ​​of the corresponding arrays of adjacent slope-aspect grids are different, the adjacent slope-aspect grids are divided into different third inspection areas.

5. The method according to claim 4, characterized in that, The determination of the slope-aspect raster map of the second inspection area based on the slope raster map and aspect raster map of the second inspection area includes: Based on the horizontal and vertical distances corresponding to each slope grid in the slope grid map of the second inspection area, the slope corresponding to each slope grid is determined; Based on the horizontal and vertical distances corresponding to each slope direction grid in the slope direction grid of the second inspection area, the slope direction corresponding to each slope direction grid is determined; The slope raster map of the second inspection area and the slope corresponding to each slope square, and the slope aspect raster map of the second inspection area and the slope aspect corresponding to each slope aspect square, are merged to obtain the slope-slope aspect raster map of the second inspection area.

6. The method according to claim 1, characterized in that, The generation of corresponding inspection routes based on the first inspection area, the second inspection area, and the third inspection area includes: A first inspection route is generated based on the first inspection area; Based on the execution result of the UAV on the first inspection route and the at least one second inspection area, a second inspection route is generated; Based on the execution results of the UAV on the second inspection route and the multiple third inspection areas, a third inspection route is generated.

7. The method according to claim 6, characterized in that, The step of generating a second inspection route based on the execution result of the UAV on the first inspection route and the at least one second inspection area includes: Based on the execution results of the UAV on the first inspection route, a first risk zone is determined in the first inspection area; Determine the second inspection area where the first risk area is located from the at least one second inspection area; The second inspection route is generated based on the second inspection area where the first risk area is located; The generation of the third inspection route based on the execution result of the UAV on the second inspection route and the multiple third inspection areas includes: Based on the execution results of the UAV on the second inspection route, a second risk area is determined from the first risk area, wherein the first risk area includes the second risk area; Determine the third inspection area where the second risk area is located from the plurality of third inspection areas; The third inspection route is generated based on the third inspection area where the second risk area is located.

8. A hydropower station slope inspection device based on unmanned aerial vehicles (UAVs), characterized in that, include: The region construction module is used to construct the first inspection area based on the slope edge; The area division module is used to divide the first inspection area into at least one second inspection area based on the slope gradient at different slope heights. For a single second inspection area, areas with the same slope gradient and slope aspect are divided into the same third inspection area to form multiple third inspection areas; The route generation module is used to generate corresponding inspection routes based on the first inspection area, the second inspection area, and the third inspection area, so that the UAV sequentially executes the inspection routes of the first inspection area, the second inspection area, and the third inspection area. The single detection field of view of the first inspection area is larger than that of the second inspection area, the single detection field of view of the second inspection area is larger than that of the third inspection area, and the inspection routes of the second inspection area and the third inspection area cover the risk area.

9. An electronic device, characterized in that, include: A processor for executing a computer program stored in a memory, wherein the computer program, when executed by the processor, implements the steps of the method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-7.

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