Control method and device of inspection unmanned aerial vehicle, electronic equipment and storage medium

Abstract

The invention provides a control method and device of an inspection unmanned aerial vehicle, electronic equipment and a storage medium, the control method of the inspection unmanned aerial vehicle is applied to the inspection unmanned aerial vehicle, an elevation terrain sensor and a laser radar are integrated on the inspection unmanned aerial vehicle, and the method comprises the following steps: collecting terrain data in real time based on the elevation terrain sensor and the laser radar, generating a three-dimensional elevation model based on the topographic data; determining a terrain mode based on the three-dimensional elevation model, and determining inspection parameters based on the terrain mode and the three-dimensional elevation model; and controlling the inspection unmanned aerial vehicle to inspect based on the inspection parameters. The terrain data is acquired by integrating the elevation terrain sensor and the laser radar, then the three-dimensional elevation model capable of accurately reflecting the actual situation of the terrain is generated, the terrain mode is determined based on the three-dimensional elevation model, the inspection parameters are determined based on the terrain mode and the three-dimensional elevation model, and then the inspection unmanned aerial vehicle is controlled to conduct inspection. The inspection efficiency is improved, and the inspection task is ensured to be safely and efficiently completed.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a control method, device, electronic equipment, and storage medium for an inspection UAV. Background Technology

[0002] In today's inspection field, especially for low-altitude inspections in complex terrains such as mountains and hills, including tasks like power line inspections and forest fire prevention, drone technology has been widely applied. Traditional drone inspection systems typically rely on preset flight routes and fixed flight parameters. Before the mission begins, operators set the drone's flight altitude, speed, and other parameters based on general terrain information. For example, in power line inspections, a relatively high and fixed flight altitude is usually set to ensure the drone can comprehensively observe the power transmission lines; similarly, a fixed altitude and speed are set for forest fire prevention inspections, allowing the drone to fly along a pre-planned route.

[0003] In relatively simple terrain environments, this traditional inspection method can be effective. It can complete the inspection task according to a set route and, to some extent, identify problems in the target area. However, its limitations become increasingly apparent when facing complex terrain such as mountains and hills. In complex terrain areas, the terrain is undulating, with significant elevation differences and various obstacles, making the inspection task much more difficult. Summary of the Invention

[0004] This invention provides a control method, device, electronic equipment, and storage medium for an inspection drone, in order to overcome the deficiencies in the prior art.

[0005] This invention provides a control method for an inspection drone, comprising: The method, applied to an inspection drone equipped with an elevation and terrain sensor and a lidar, includes: The terrain data is collected in real time based on the elevation and terrain sensor and the lidar, and a three-dimensional elevation model is generated based on the terrain data. The terrain pattern is determined based on the three-dimensional elevation model, and the inspection parameters are determined based on the terrain pattern and the three-dimensional elevation model. The inspection drone is controlled to perform inspections based on the inspection parameters.

[0006] According to a control method for an inspection drone provided by the present invention, the step of determining the terrain pattern based on the three-dimensional elevation model includes: The terrain undulation value and slope change frequency are calculated based on the three-dimensional elevation model. If either the terrain undulation value is greater than or equal to the terrain undulation threshold or the slope change frequency is greater than or equal to the slope change frequency threshold, the terrain pattern is determined to be the first pattern. If the terrain undulation value is less than the terrain undulation threshold and the slope change frequency is less than the slope change frequency threshold, the terrain pattern is determined to be the second pattern.

[0007] According to a control method for an inspection drone provided by the present invention, the step of determining inspection parameters based on the terrain pattern and the three-dimensional elevation model includes: If the terrain pattern is the first pattern, calculate the terrain slope based on the three-dimensional elevation model; The flight altitude is calculated based on the terrain slope, and the flight altitude is used as the inspection parameter.

[0008] According to a control method for an inspection drone provided by the present invention, the step of controlling the inspection drone to perform inspections based on the inspection parameters includes: Acquire the flight attitude data of the inspection drone; Based on the flight attitude data and the flight altitude, the inspection drone is controlled to perform inspections.

[0009] According to a control method for an inspection drone provided by the present invention, the step of determining inspection parameters based on the terrain pattern and the three-dimensional elevation model includes: If the terrain pattern is the first pattern, within the first speed range, the first flight speed is calculated based on the three-dimensional elevation model, and the first flight speed is used as the inspection parameter; If the terrain mode is the second mode, within the second speed range, the second flight speed is calculated based on the three-dimensional elevation model, and the second flight speed is used as the inspection parameter; wherein, the speed within the first speed range is less than the speed within the second speed range.

[0010] According to a control method for an inspection drone provided by the present invention, the step of controlling the inspection drone to perform inspections based on the inspection parameters includes: Based on the three-dimensional elevation model, detect whether there are obstacles on the travel route of the inspection drone; If an obstacle exists, determine the obstacle information and obtain the location and flight information of the inspection drone; Based on the obstacle information, the location information, and the flight information, an avoidance path is calculated using a path planning algorithm; The inspection drone is controlled to perform inspections based on the avoidance path and the inspection parameters.

[0011] According to a control method for an inspection drone provided by the present invention, the step of generating a three-dimensional elevation model based on the terrain data includes: The terrain data is then filtered. Based on the filtered terrain data, the three-dimensional elevation model is generated using the principles of triangulation and spatial coordinate transformation algorithms.

[0012] The present invention also provides a control device for an inspection drone, which is applied to the inspection drone. The inspection drone integrates an elevation and terrain sensor and a lidar. The device includes: The data acquisition module is configured to acquire terrain data in real time based on the elevation and terrain sensor and the lidar, and generate a three-dimensional elevation model based on the terrain data; The determination module is configured to determine the terrain pattern based on the three-dimensional elevation model, and to determine the inspection parameters based on the terrain pattern and the three-dimensional elevation model. The control module is configured to control the inspection drone to perform inspections based on the inspection parameters.

[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method of any of the above-described inspection drones.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method of the inspection drone as described above.

[0015] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the control method of any of the above-described inspection drones.

[0016] The control method, device, electronic equipment, and storage medium for the inspection drone provided by this invention integrates an elevation and terrain sensor and a lidar to collect terrain data in real time and efficiently. Based on this terrain data, a three-dimensional elevation model is quickly generated. This model can rapidly and accurately reflect the actual terrain conditions in complex environments, providing a reliable data foundation for subsequent flight control. The current terrain mode of the inspection drone is determined based on the three-dimensional elevation model. Inspection parameters are then determined based on the terrain mode and the three-dimensional elevation model, and the drone is controlled to perform inspections based on these parameters. The automatically generated inspection parameters adapted to the terrain mode greatly improve inspection efficiency and accuracy, ensuring the safe and efficient completion of inspection tasks. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the control method for the inspection drone provided by the present invention.

[0019] Figure 2 This is a schematic diagram of the control device for the inspection drone provided by the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention 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 invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] Current drone inspection processes for complex terrain rely primarily on manual intervention, which has the following shortcomings: High risk of collision with obstacles: In complex areas with significant terrain undulations, such as mountainous and hilly regions, traditional drones lack real-time terrain awareness and cannot respond promptly to sudden terrain changes. When encountering obstacles such as sudden elevation changes, like a mountain peak rising abruptly in a mountainous area or tall trees in a hilly area, drones are highly susceptible to collisions. For example, in a power line inspection scenario in mountainous areas, a drone may be unable to detect terrain changes in advance and may not have enough time to avoid a mountain peak, resulting in a collision and crash. This not only damages the equipment but also severely impacts the normal progress of the inspection mission, increasing inspection costs and time.

[0023] Manual operation is burdensome and time-consuming: To avoid drone collisions with obstacles, operators must constantly monitor the drone's flight and frequently adjust flight parameters manually. Throughout the inspection process, operators need to concentrate and manually adjust parameters such as flight altitude and speed based on visually observed terrain changes. However, manual adjustments inevitably have a lag, making it impossible to respond to terrain changes in real time and with precision. For example, in forest fire prevention patrols, if a drone rapidly approaches a complex terrain area and the operator only adjusts parameters after noticing it, the drone may have already approached a danger zone within that brief reaction time, posing a collision risk. Moreover, prolonged periods of highly focused operation significantly increase the operator's workload, easily leading to fatigue and consequently affecting operational accuracy.

[0024] Low inspection efficiency and accuracy: Frequent manual intervention severely reduces inspection efficiency. Drones cannot complete inspection tasks continuously and efficiently according to preset routes and speeds. When encountering complex terrain, manual parameter adjustments are required, leading to extended inspection cycles. Taking power line inspection in mountainous areas as an example, due to the need for frequent parameter adjustments, an inspection task originally planned to be completed in one day may take two days or even longer to complete. At the same time, traditional inspection methods struggle to guarantee accuracy in complex terrain. Because flight parameters cannot be dynamically adjusted according to terrain characteristics, drones may be unable to conduct detailed observations of certain areas during flight. For instance, in power line inspections in complex terrain, drones may fail to clearly observe minor damage or loose components on the lines due to unsuitable flight altitude and speed, making it difficult to detect potential hazards in a timely manner and posing risks to subsequent line maintenance and safe operation.

[0025] Therefore, the present invention provides a control method, device, electronic device and storage medium for an inspection drone. The data involved in the present invention (including but not limited to data used for analysis, data stored, data displayed, etc.) are all information and data authorized by the user or fully authorized by all parties. The collection, use and processing of related data must comply with the relevant laws, regulations and standards of relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0026] Figure 1 This is a flowchart illustrating a control method for an inspection drone according to an exemplary embodiment. Figure 1 As shown in an exemplary embodiment, the control method for an inspection drone is applied to the inspection drone, which integrates an elevation terrain sensor and a lidar. The method includes steps 110 to 130, which are described in detail below.

[0027] Step 110: Collect terrain data in real time based on the elevation terrain sensor and the lidar, and generate a three-dimensional elevation model based on the terrain data.

[0028] In this embodiment of the invention, an elevation terrain sensor and a lidar are integrated onto the inspection drone. The elevation terrain sensor is responsible for acquiring real-time elevation information of the terrain below the inspection drone. It accurately measures the terrain height by emitting a specific signal and receiving reflected signals, based on the round-trip time of the signal. For example, an elevation terrain sensor based on microwave ranging can quickly and accurately measure relative height. The lidar is arranged around the inspection drone, emitting laser beams at a high frequency and receiving laser signals reflected from surrounding objects. By calculating the laser round-trip time, it accurately measures the distance between the drone and surrounding obstacles, thereby acquiring the spatial location information of the obstacles. These two sensors work together to collect terrain data in a comprehensive and real-time manner. A three-dimensional elevation model is generated based on the collected terrain data. The three-dimensional elevation model can present the three-dimensional morphology of the terrain around the inspection drone in real time and intuitively, including detailed information such as terrain undulations and obstacle positions, providing a precise data foundation for subsequent flight control.

[0029] Step 120: Determine the terrain pattern based on the three-dimensional elevation model, and determine the inspection parameters based on the terrain pattern and the three-dimensional elevation model.

[0030] In this embodiment of the invention, since the three-dimensional elevation model can present the three-dimensional shape of the terrain around the inspection drone in real time and intuitively, the terrain pattern of the inspection drone can be accurately determined based on the three-dimensional elevation model. The inspection parameters are determined by combining the terrain pattern and the three-dimensional elevation model, so that the determined inspection parameters can be more accurately adapted to the current terrain pattern.

[0031] Step 130: Control the inspection drone to perform inspection based on the inspection parameters.

[0032] In this embodiment of the invention, the inspection drone performs inspections based on determined inspection parameters.

[0033] In this embodiment of the invention, by integrating an elevation and terrain sensor with a lidar, terrain data is collected in real time and efficiently. A three-dimensional elevation model is then rapidly generated based on this data. This model can quickly and accurately reflect the actual terrain conditions in complex environments, providing a reliable data foundation for subsequent flight control. The current terrain mode of the inspection drone is determined based on the three-dimensional elevation model. Inspection parameters are then determined based on the terrain mode and the three-dimensional elevation model, and the drone is controlled to perform inspections based on these parameters. The automatically generated inspection parameters, adapted to different terrain modes, greatly improve inspection efficiency, reduce manual intervention, and allow for reasonable speed matching under different terrains. This also enhances inspection accuracy, ensuring the safe and efficient completion of inspection tasks. The technical solution provided by this invention enables more detailed observation of targets in complex terrain, thereby comprehensively optimizing low-altitude inspection work in mountainous and hilly areas, bringing numerous positive effects.

[0034] In an exemplary embodiment of the present invention, determining the terrain pattern based on the three-dimensional elevation model includes: The terrain undulation value and slope change frequency are calculated based on the three-dimensional elevation model. If either the terrain undulation value is greater than or equal to the terrain undulation threshold or the slope change frequency is greater than or equal to the slope change frequency threshold, the terrain pattern is determined to be the first pattern. If the terrain undulation value is less than the terrain undulation threshold and the slope change frequency is less than the slope change frequency threshold, the terrain pattern is determined to be the second pattern.

[0035] In this embodiment of the invention, the ability to intelligently identify the complexity of terrain is realized based on a three-dimensional elevation model, thereby supporting the switching between preset inspection routes and terrain adaptive modes.

[0036] Specifically, before flight, operators can set a preset inspection route based on known terrain information. The inspection drone conducts inspections based on the preset route. During the inspection process, a three-dimensional elevation model is generated. By analyzing the three-dimensional elevation model, the terrain undulation value and slope change frequency are calculated. The terrain undulation value describes the relative difference in elevation within a region, that is, the degree of unevenness of the terrain. The slope change frequency refers to the frequency and severity of spatial changes in terrain slope, describing the complexity of terrain slope transitions.

[0037] Terrain relief values ​​can be characterized based on terrain undulation or elevation standard deviation. Terrain undulation can be obtained based on the elevation difference between the highest and lowest points within the target area, while elevation standard deviation can be based on the standard deviation of elevation values ​​within the target area relative to the average elevation. The target area is the region along the inspection drone's travel route, at a distance from the target area set by the inspection drone. The slope change frequency is obtained based on the standard deviation of the terrain slope.

[0038] The calculated terrain undulation value and slope change frequency are compared with their corresponding thresholds. If the terrain undulation value is greater than or equal to the terrain undulation threshold and / or the slope change frequency is greater than or equal to the slope change frequency threshold, the terrain pattern is determined to be the first pattern. The second pattern corresponds to complex terrain areas such as mountains and hills. If the terrain undulation value is less than the terrain undulation threshold and the slope change frequency is less than the slope change frequency threshold, the terrain pattern is determined to be the second pattern. The second pattern corresponds to simple terrain areas such as plains and open grasslands.

[0039] In an exemplary embodiment of the present invention, determining the inspection parameters based on the terrain pattern and the three-dimensional elevation model includes: If the terrain pattern is the first pattern, calculate the terrain slope based on the three-dimensional elevation model; The flight altitude is calculated based on the terrain slope, and the flight altitude is used as the inspection parameter.

[0040] In this embodiment of the invention, when the inspection drone is currently in the first mode based on the generated three-dimensional elevation model, the terrain slope is calculated in real time by analyzing the height difference and horizontal distance between adjacent terrain points in the three-dimensional elevation model and applying the principle of trigonometric functions.

[0041] Once the terrain slope is calculated, the flight altitude is obtained based on the real-time terrain slope and a pre-set function relationship. The flight altitude of the inspection drone is then dynamically adjusted to ensure that the ground clearance of the inspection drone is always kept at the target distance, such as (3-5) meters.

[0042] In this embodiment of the invention, when the slope is small, the flight altitude adjustment range is appropriately reduced; when the slope is large, the flight altitude adjustment range is increased, so that the UAV can fly smoothly and safely following the terrain undulations, while ensuring the effective observation distance of ground targets.

[0043] In an exemplary embodiment of the present invention, controlling the inspection drone to perform inspections based on the inspection parameters includes: Acquire the flight attitude data of the inspection drone; Based on the flight attitude data and the flight altitude, the inspection drone is controlled to perform inspections.

[0044] In this embodiment of the invention, during the process of adjusting the flight altitude, the flight attitude data of the inspection drone is combined to ensure flight stability and avoid the inspection drone losing control of its attitude due to excessively rapid or large altitude adjustments.

[0045] In this embodiment of the invention, the inspection parameters can be adjusted in a timely and accurate manner according to different terrain slopes, ensuring that the inspection drone flies safely in complex terrains and can effectively avoid various obstacles, thus ensuring accurate identification of terrain slopes and the timeliness and accuracy of flight parameter adjustments.

[0046] In an exemplary embodiment of the present invention, determining the inspection parameters based on the terrain pattern and the three-dimensional elevation model includes: If the terrain pattern is the first pattern, within the first speed range, the first flight speed is calculated based on the three-dimensional elevation model, and the first flight speed is used as the inspection parameter; If the terrain mode is the second mode, within the second speed range, the second flight speed is calculated based on the three-dimensional elevation model, and the second flight speed is used as the inspection parameter; wherein, the speed within the first speed range is less than the speed within the second speed range.

[0047] In this embodiment of the invention, if the current terrain mode is the first mode, the first flight speed is calculated based on the three-dimensional elevation model within the first speed range; if the terrain mode is the second mode, the second flight speed is calculated based on the three-dimensional elevation model within the second speed range; and the speed within the first speed range is less than the speed within the second speed range.

[0048] Specifically, when the inspection drone flies over a simple terrain area, the analysis of the 3D elevation model determines that the terrain is relatively flat with minimal undulation and few obstacles. In this case, it automatically switches to high-speed mode and flies at the calculated second flight speed. However, when the inspection drone enters mountainous or hilly areas with complex terrain, and the 3D elevation model data shows significant terrain undulation, frequent slope changes, and numerous obstacles, it automatically switches to terrain-adaptive mode and flies at the calculated first flight speed.

[0049] In this embodiment of the invention, the flight speed of the inspection drone is dynamically adjusted under different terrain modes. In the first mode, the first speed range can be set to (5, 12] (unit: meters per second, m / s), enabling the inspection drone to quickly cover a large area and improve inspection efficiency. For example, in power line inspection in plains areas, the inspection drone flies along a preset route at a higher speed to quickly complete the initial inspection of long-distance transmission lines. In the second mode, for complex terrain, the flight speed is automatically reduced to less than or equal to 5 m / s. At this time, combined with slope-based flight control, the inspection drone can fly closer to the terrain more accurately, conduct more detailed observation and detection of ground targets, and improve inspection accuracy. For example, when inspecting power lines in mountainous areas, the lower flight speed allows the inspection drone to clearly observe small components on the transmission lines and promptly detect potential problems such as line wear and loose parts. At the same time, in complex terrain areas, the flight speed will be further fine-tuned according to the actual terrain conditions, such as changes in slope and the distribution of obstacles, to ensure the safety and accuracy of the inspection.

[0050] In an exemplary embodiment of the present invention, controlling the inspection drone to perform inspections based on the inspection parameters includes: Based on the three-dimensional elevation model, detect whether there are obstacles on the travel route of the inspection drone; If an obstacle exists, determine the obstacle information and obtain the location and flight information of the inspection drone; Based on the obstacle information, the location information, and the flight information, an avoidance path is calculated using a path planning algorithm; The inspection drone is controlled to perform inspections based on the avoidance path and the inspection parameters.

[0051] In this embodiment of the invention, the drone can not only adjust its flight altitude according to the terrain slope, but also automatically avoid terrain protrusions and obstacles. In a three-dimensional elevation model, terrain protrusions and obstacles are identified by analyzing terrain data within a certain distance ahead. When an obstacle is detected, the optimal avoidance path is calculated using a path planning algorithm based on the drone's current position and flight information, such as flight speed and altitude, as well as obstacle information, such as the obstacle's location and size. The drone is then controlled to perform inspections based on the calculated avoidance path and inspection parameters.

[0052] In an exemplary embodiment of the present invention, generating a three-dimensional elevation model based on the terrain data includes: The terrain data is then filtered. Based on the filtered terrain data, the three-dimensional elevation model is generated using the principles of triangulation and spatial coordinate transformation algorithms.

[0053] In this embodiment of the invention, terrain data acquired by elevation terrain sensors and lidar are fused. First, the terrain data is filtered and denoised to remove abnormal data caused by environmental interference or sensor errors. Then, based on the fused data, a precise three-dimensional elevation model is quickly generated using triangulation principles and spatial coordinate transformation algorithms. The three-dimensional elevation model can present the three-dimensional morphology of the terrain surrounding the UAV in real time and intuitively, including detailed information such as terrain undulations and obstacle locations, providing a precise data foundation for subsequent flight control. For example, in complex mountainous terrain environments, through data processing and modeling, the three-dimensional elevation model can clearly present the spatial distribution of terrain features such as peaks, valleys, and trees, as well as obstacles, providing an accurate basis for UAV flight path planning.

[0054] In this embodiment of the invention, when constructing a three-dimensional elevation model, the filtered terrain data is projected onto a two-dimensional plane based on the principle of triangulation. Delaunay triangulation is performed on these two-dimensional point sets projected onto the two-dimensional plane to form a triangular network. The elevation (Z) value of each two-dimensional point is assigned to the corresponding triangle vertex, thereby constructing an irregular triangular network.

[0055] During the data acquisition phase, the raw terrain data is typically located in the sensor's own coordinate system. It needs to be transformed to a unified geodetic coordinate system or projected coordinate system through rigorous geometric correction and coordinate transformation algorithms (involving translation, rotation, and scaling, i.e., seven-parameter or four-parameter models). When performing Delaunay triangulation, the work usually takes place in a two-dimensional plane. Therefore, it is necessary to temporarily project the 3D points (X,Y,Z) onto the 2D plane (X,Y) for calculation, generate the triangulation mesh, and then restore the Z-values. Depending on the final requirements, the generated 3D elevation model is then converted between different coordinate systems.

[0056] The control device for the inspection drone provided by the present invention will be described below. The control device for the inspection drone described below can be referred to in correspondence with the control method for the inspection drone described above. It should be noted that the device provided in the embodiments below and the method provided in the embodiments above belong to the same concept, and the specific way in which each module and unit performs operations has been described in detail in the method embodiments, and will not be repeated here.

[0057] In one exemplary embodiment of the present invention, please refer to Figure 2 , Figure 2 This is a control device for an inspection drone according to an exemplary embodiment, applied to the inspection drone, which integrates an elevation and terrain sensor and a lidar. The device includes the following modules: The acquisition module 210 is configured to acquire terrain data in real time based on the elevation and terrain sensor and the lidar, and generate a three-dimensional elevation model based on the terrain data; The determination module 220 is configured to determine the terrain pattern based on the three-dimensional elevation model, and to determine the inspection parameters based on the terrain pattern and the three-dimensional elevation model. The control module 230 is configured to control the inspection drone to perform inspections based on the inspection parameters.

[0058] In an exemplary embodiment of the present invention, the determining module 220 includes: The first calculation submodule is configured to calculate the terrain undulation value and slope change frequency based on the three-dimensional elevation model; The first determining submodule is configured to determine the terrain mode as the first mode if either the terrain undulation value is greater than or equal to the terrain undulation threshold or the slope change frequency is greater than or equal to the slope change frequency threshold. The second determining submodule is configured to determine the terrain mode as the second mode if the terrain undulation value is less than the terrain undulation threshold and the slope change frequency is less than the slope change frequency threshold.

[0059] In an exemplary embodiment of the present invention, the inspection module 220 includes: The second calculation submodule is configured to calculate the terrain slope based on the three-dimensional elevation model if the terrain mode is the first mode. The third calculation submodule is configured to calculate the flight altitude based on the terrain slope and use the flight altitude as the inspection parameter.

[0060] In an exemplary embodiment of the present invention, the control module 230 includes: The first acquisition submodule is configured to acquire the flight attitude data of the inspection drone; The first control submodule is configured to control the inspection drone to perform inspections based on the flight attitude data and the flight altitude.

[0061] In an exemplary embodiment of the present invention, the determining module 220 includes: The fourth calculation submodule is configured to, if the terrain mode is the first mode, calculate the first flight speed based on the three-dimensional elevation model within the first speed range, and use the first flight speed as the inspection parameter; The fifth calculation submodule is configured to, if the terrain mode is the second mode, calculate the second flight speed based on the three-dimensional elevation model within the second speed range, and use the second flight speed as the inspection parameter; wherein the speed within the first speed range is less than the speed within the second speed range.

[0062] In an exemplary embodiment of the present invention, the control module 230 includes: The detection submodule is configured to detect whether there are obstacles on the travel route of the inspection drone based on the three-dimensional elevation model; The second acquisition submodule is configured to determine obstacle information if it exists, and acquire the location and flight information of the inspection drone; The fifth calculation submodule is configured to calculate an avoidance path using a path planning algorithm based on the obstacle information, the location information, and the flight information. The second control submodule is configured to control the inspection drone to perform inspections based on the avoidance path and the inspection parameters.

[0063] In an exemplary embodiment of the present invention, the acquisition module 210 includes: The filtering submodule is configured to perform filtering processing on the terrain data; The generation submodule is configured to generate the three-dimensional elevation model based on the filtered terrain data, using the principles of triangulation and spatial coordinate transformation algorithms.

[0064] Figure 3 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute a control method for the inspection drone, which is applied to the inspection drone. The inspection drone integrates an elevation terrain sensor and a lidar. The method includes: The terrain data is collected in real time based on the elevation and terrain sensor and the lidar, and a three-dimensional elevation model is generated based on the terrain data. The terrain pattern is determined based on the three-dimensional elevation model, and the inspection parameters are determined based on the terrain pattern and the three-dimensional elevation model. The inspection drone is controlled to perform inspections based on the inspection parameters.

[0065] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0066] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control methods for the inspection drone provided by the above methods, and apply them to the inspection drone. The inspection drone integrates an elevation terrain sensor and a lidar. The method includes: The terrain data is collected in real time based on the elevation and terrain sensor and the lidar, and a three-dimensional elevation model is generated based on the terrain data. The terrain pattern is determined based on the three-dimensional elevation model, and the inspection parameters are determined based on the terrain pattern and the three-dimensional elevation model. The inspection drone is controlled to perform inspections based on the inspection parameters.

[0067] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the control method for the inspection drone provided by the above methods, applied to the inspection drone, wherein the inspection drone integrates an elevation terrain sensor and a lidar, and the method includes: The terrain data is collected in real time based on the elevation and terrain sensor and the lidar, and a three-dimensional elevation model is generated based on the terrain data. The terrain pattern is determined based on the three-dimensional elevation model, and the inspection parameters are determined based on the terrain pattern and the three-dimensional elevation model. The inspection drone is controlled to perform inspections based on the inspection parameters.

[0068] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0069] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for an inspection drone, characterized in that, The method, applied to an inspection drone equipped with an elevation and terrain sensor and a lidar, includes: The terrain data is collected in real time based on the elevation and terrain sensor and the lidar, and a three-dimensional elevation model is generated based on the terrain data. The terrain pattern is determined based on the three-dimensional elevation model, and the inspection parameters are determined based on the terrain pattern and the three-dimensional elevation model. The inspection drone is controlled to perform inspections based on the inspection parameters.

2. The control method for the inspection drone according to claim 1, characterized in that, The determination of terrain patterns based on the three-dimensional elevation model includes: The terrain undulation value and slope change frequency are calculated based on the three-dimensional elevation model. If either the terrain undulation value is greater than or equal to the terrain undulation threshold or the slope change frequency is greater than or equal to the slope change frequency threshold, the terrain pattern is determined to be the first pattern. If the terrain undulation value is less than the terrain undulation threshold and the slope change frequency is less than the slope change frequency threshold, the terrain pattern is determined to be the second pattern.

3. The control method for the inspection drone according to claim 2, characterized in that, The process of determining inspection parameters based on the terrain pattern and the three-dimensional elevation model includes: If the terrain pattern is the first pattern, calculate the terrain slope based on the three-dimensional elevation model; The flight altitude is calculated based on the terrain slope, and the flight altitude is used as the inspection parameter.

4. The control method for the inspection drone according to claim 3, characterized in that, The step of controlling the inspection drone to perform inspections based on the inspection parameters includes: Acquire the flight attitude data of the inspection drone; Based on the flight attitude data and the flight altitude, the inspection drone is controlled to perform inspections.

5. The control method for the inspection drone according to claim 2, characterized in that, The process of determining inspection parameters based on the terrain pattern and the three-dimensional elevation model includes: If the terrain pattern is the first pattern, within the first speed range, the first flight speed is calculated based on the three-dimensional elevation model, and the first flight speed is used as the inspection parameter; If the terrain mode is the second mode, within the second speed range, the second flight speed is calculated based on the three-dimensional elevation model, and the second flight speed is used as the inspection parameter; wherein, the speed within the first speed range is less than the speed within the second speed range.

6. The control method for an inspection drone according to any one of claims 1 to 5, characterized in that, The step of controlling the inspection drone to perform inspections based on the inspection parameters includes: Based on the three-dimensional elevation model, detect whether there are obstacles on the travel route of the inspection drone; If an obstacle exists, determine the obstacle information and obtain the location and flight information of the inspection drone; Based on the obstacle information, the location information, and the flight information, an avoidance path is calculated using a path planning algorithm; The inspection drone is controlled to perform inspections based on the avoidance path and the inspection parameters.

7. The control method for an inspection drone according to any one of claims 1 to 5, characterized in that, The generation of a three-dimensional elevation model based on the terrain data includes: The terrain data is then filtered. Based on the filtered terrain data, the three-dimensional elevation model is generated using the principles of triangulation and spatial coordinate transformation algorithms.

8. A control device for an inspection drone, characterized in that, An application for inspection drones, wherein the inspection drone integrates an elevation and terrain sensor and a lidar, the device includes: The data acquisition module is configured to acquire terrain data in real time based on the elevation and terrain sensor and the lidar, and generate a three-dimensional elevation model based on the terrain data; The determination module is configured to determine the terrain pattern based on the three-dimensional elevation model, and to determine the inspection parameters based on the terrain pattern and the three-dimensional elevation model. The control module is configured to control the inspection drone to perform inspections based on the inspection parameters.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the control method for the inspection drone as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the control method of the inspection drone as described in any one of claims 1 to 7.

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