Cable trench acceptance method, system and equipment based on unmanned aerial vehicle

Abstract

The embodiment of the invention provides a cable trench acceptance method, system and equipment based on an unmanned aerial vehicle. The method comprises the following steps: when a user performs cable acceptance inspection, a control device firstly sends a starting command to an unmanned aerial vehicle; after the unmanned aerial vehicle acquires a video image in the target cable trench in real time, the video image is transmitted to the control equipment; and then, according to a second instruction of the user, a control command is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes corresponding operation for the target cable trench according to the control command to realize acceptance inspection of the internal condition of the target cable trench. Through the method, rapid acceptance inspection of the cable trench is realized, human intervention is reduced, the acceptance inspection efficiency is improved, and the operation safety is improved.

Description

Technical Field

[0001] This application relates to the field of cable acceptance, and in particular to a method, system and equipment for cable trench acceptance based on unmanned aerial vehicles (UAVs). Background Technology

[0002] With the continuous development of social productivity and the accelerating pace of urbanization, the number of power cables put into operation is constantly increasing. Cable trenches, as an important form of cable laying, play a crucial role in the passage of power cables. After the civil construction of the power cable trench is completed and the cables are laid, maintenance personnel often need to conduct a full inspection of the cable trench to ensure the quality of the civil construction and cable laying. How to ensure the efficiency of the inspection by maintenance personnel is an urgent problem to be solved.

[0003] In existing technologies, the acceptance of power cable trenches generally requires two maintenance personnel to enter the trench. For cable trenches with shallow depths, they need to crouch down to conduct the acceptance, take photos of any problems or important points for record-keeping, and record them in the acceptance record form, including problem descriptions, location numbers, and suggested corrective measures.

[0004] However, existing acceptance methods pose risks to maintenance personnel due to potential bumps and knocks, and also fail to clearly record problems, resulting in low acceptance efficiency. Summary of the Invention

[0005] This application provides a method, system, and equipment for cable trench acceptance based on drones, which solves the problems of low acceptance efficiency, such as the risk of bumps and knocks to maintenance personnel, the inability to clearly record problems, and other issues in the prior art.

[0006] In a first aspect, embodiments of this application provide a cable trench acceptance method based on unmanned aerial vehicles (UAVs), applied to control equipment, including:

[0007] According to the first instruction input by the user, a start command is sent to the drone; the start command includes a hovering instruction and the first pose of the control device; so that the drone hovers at the entrance of the target cable trench according to the hovering instruction, and adjusts the second pose to the same pose as the first pose;

[0008] The system receives video images of the target cable trench transmitted by the UAV; the video images are acquired in real time by the UAV while it is flying in the target cable trench following the control device.

[0009] According to the second instruction input by the user, a control command is sent to the drone. The control command is used to instruct the drone to perform a corresponding defect recording operation on the target cable trench in order to achieve acceptance of the internal condition of the target cable trench.

[0010] In one possible implementation, the second instruction is a photo recording instruction; the step of sending control commands to the drone based on the second instruction input by the user includes:

[0011] Upon receiving the photographing instruction, a control command containing the photographing instruction is generated;

[0012] The control command containing the photo-taking instruction is sent to the drone so that the drone can capture real-time images of the target cable trench according to the photo-taking instruction and record the current position.

[0013] In one possible implementation, the second instruction is a zoom-in command; the step of sending control commands to the drone based on the second instruction input by the user includes:

[0014] Upon receiving the zoom-in viewing instruction, a control command containing the zoom-in viewing instruction is generated;

[0015] The control command containing the zoom-in view instruction is sent to the drone so that the drone zooms in on the real-time image of the target cable trench in the screen according to the zoom-in view instruction.

[0016] Secondly, embodiments of this application provide a cable trench acceptance method based on unmanned aerial vehicles (UAVs), applied to UAVs, including:

[0017] Receive a start command sent by the control device, the start command including a hover command and the first position of the control device;

[0018] The drone hovers at the entrance of the target cable trench according to the hovering command, and adjusts its second pose to be the same as the first pose; wherein, the second pose is the real-time pose of the drone.

[0019] During flight while following the control device within the target cable trench, real-time video images of the target cable trench are acquired and transmitted to the control device;

[0020] Receive control commands sent by the control device;

[0021] According to the control command, the corresponding operation is performed on the target cable trench to achieve acceptance of the internal condition of the target cable trench.

[0022] In one possible implementation, the control command includes a photographing instruction; the step of performing a corresponding operation on the target cable trench according to the control command includes:

[0023] Receive the control command sent by the control device;

[0024] According to the photo-taking instruction in the control command, a real-time image of the target cable trench is captured and the current position is recorded; the control command is generated by the control device when it receives the photo-taking and recording instruction, and the photo-taking and recording instruction is the control command.

[0025] In one possible implementation, the control command includes a zoom-in viewing instruction; the step of performing a corresponding operation on the target cable trench according to the control command includes:

[0026] Receive the control command sent by the control device;

[0027] According to the zoom-in instruction in the control command, the real-time image of the target cable trench in the display screen is zoomed in; the control command is generated by the control device when it receives the zoom-in instruction, and the zoom-in instruction is the control command.

[0028] In one possible implementation, the UAV has a built-in high-precision positioning module; the method further includes:

[0029] Real-time acquisition of the first pose of the control device and the position information of the control device;

[0030] Based on the first pose of the control device, adjust the second pose of the machine body to be the same as the first pose.

[0031] Based on the position information of the control device, the relative position between the fuselage and the control device is adjusted by a high-precision positioning module to achieve dynamic following flight of the control device.

[0032] In one possible implementation, the method further includes:

[0033] During flight following the control device, the distance to the target object inside the cable trench is measured in real time using ranging sensors installed around the drone's fuselage.

[0034] When the distance between the drone and the object inside the target cable trench is determined to be less than a set threshold, the distance between the drone and the object inside the target cable trench is adjusted to achieve obstacle avoidance.

[0035] Thirdly, embodiments of this application provide a cable trench acceptance system based on unmanned aerial vehicles (UAVs), the system comprising:

[0036] Control devices for implementing the method as described in the first aspect, and drones for implementing the method as described in the second aspect.

[0037] Fourthly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0038] The memory stores computer-executed instructions;

[0039] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above;

[0040] And to cause the processor to perform the second aspect and / or various possible implementations of the second aspect as described above.

[0041] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect, and, when executed by a processor, are used to implement the second aspect and / or various possible implementations of the second aspect.

[0042] The cable trench acceptance method, system, and equipment based on unmanned aerial vehicles (UAVs) provided in this application involve the following steps: When a user conducts cable acceptance, the control device first sends a start command to the UAV. After the UAV acquires real-time video images of the target cable trench, it transmits them to the control device. During this process, the UAV, equipped with a high-definition camera, can acquire high-quality images within the cable trench and transmit them to the control device in real-time via a stable transmission system. This allows for clear, unobstructed images during the acceptance process, aiding in analysis and decision-making. Then, based on a second instruction from the user, a control command is sent to the UAV, enabling it to perform corresponding operations on the target cable trench to assess its internal condition. The UAV can perform different operations based on the control command, such as adjusting its flight angle, photographing specific areas, or taking close-up shots. This flexibility allows for more precise cable trench acceptance, especially in hard-to-reach or dangerous areas. Therefore, this method achieves rapid cable trench acceptance, reduces human intervention, improves acceptance efficiency, and enhances operational safety. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0044] Figure 1 A schematic diagram of the interface of the UAV-based cable trench acceptance system provided in this application embodiment;

[0045] Figure 2 System illustration of the UAV-based cable trench acceptance method provided in this application embodiment. Figure 1 ;

[0046] Figure 3 System illustration of the UAV-based cable trench acceptance method provided in this application embodiment. Figure 2

[0047] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0048] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0049] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0050] With the continuous development of social productivity and the accelerating pace of urbanization, the number of power cables put into operation is constantly increasing. Cable trenches, as an important form of cable laying, play a crucial role in the passage of power cables. After the civil construction of the power cable trench is completed and the cables are laid, maintenance personnel often need to conduct a full inspection of the cable trench to ensure the quality of the civil construction and cable laying. How to ensure the efficiency of the inspection by maintenance personnel is an urgent problem to be solved.

[0051] In existing technologies, the acceptance of power cable trenches generally requires two maintenance personnel to enter the trench. For cable trenches with shallow depths, they need to crouch down to conduct the acceptance, take photos of any problems or important points for record-keeping, and record them in the acceptance record form, including problem descriptions, location numbers, and suggested corrective measures.

[0052] However, existing acceptance methods, especially in cable trenches with shallow depths, require maintenance personnel to jump into the trench and crouch to conduct inspections. This presents challenges due to limited lighting and visibility, as well as the risks of working in confined spaces and potential collisions. Furthermore, it's difficult to accurately describe the location of defects during the acceptance process, hindering worker elimination. If maintenance personnel and workers enter the trench together, the limited space further reduces safety, and when the number of defects is large, it becomes impossible to record them clearly, preventing the elimination of each defect and ensuring a zero-defect start-up, ultimately leading to low acceptance efficiency.

[0053] Based on this, this application proposes a UAV-based cable trench inspection method. Traditional manual inspection often requires manual entry into the cable trench, which is not only labor-intensive and time-consuming but also subject to limitations imposed by weather, environment, and manpower. With the rapid development of UAV technology, its characteristics of fast flight and high-precision image acquisition equipment enable it to flexibly adapt to complex cable trench environments. Whether in narrow spaces or winding cable trench routes, it can efficiently complete the shooting and inspection of target areas. During mission execution, it can transmit video images in real time, allowing control equipment to acquire clear on-site images immediately and quickly analyze the status of the cable trench. This real-time feedback greatly improves the response speed of the inspection, reduces waiting time, and achieves multiple benefits such as improved efficiency, ensured inspection accuracy, and enhanced safety.

[0054] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0055] Figure 1 This is a schematic diagram of the interface of the UAV-based cable trench acceptance system provided in the embodiments of this application; as shown below. Figure 1 As shown, the system includes a control device and a drone. The control device is a pair of smart glasses, which incorporate front and rear sensors and a high-precision positioning device. By judging the angle between two lines, the glasses accurately perceive their orientation, allowing the drone to receive and follow this orientation in real time. The drone is relatively small, measuring 15cm x 15cm x 3cm. It incorporates a camera and a high-brightness light at the front of the drone, angle sensors and a high-precision positioning device at the front and rear of the fuselage, and centimeter-level distance sensors around the drone's perimeter, enabling real-time distance sensing to surrounding objects within the cable trench.

[0056] The drone's camera is oriented in the same direction as the smart glasses worn by maintenance personnel. The drone's position and forward direction follow the smart glasses' position and forward direction in real time. If the smart glasses' position changes during inspection, the drone will continue to follow within the obstacle avoidance range. Vertically, it can move up and down within the ditch while maintaining a certain distance from the top and bottom. Furthermore, by utilizing the drone's built-in angle sensor to determine its orientation and angle, and receiving real-time position and angle data from the smart device, the drone can instantly follow the smart glasses' movement and fly within the ditch to its designated location while adhering to obstacle avoidance principles.

[0057] Figure 2 System illustration of the UAV-based cable trench acceptance method provided in this application embodiment. Figure 1 ;like Figure 2 As shown, the method includes:

[0058] S201. The terminal device sends a start command to the drone based on the first instruction input by the user.

[0059] The activation command includes a hovering instruction and the first pose of the control device, so that the UAV hovers at the entrance of the target cable trench according to the hovering instruction and adjusts the second pose to be the same as the first pose.

[0060] Understandably, once the terminal device is activated, the user can input the first command via voice. Then, based on the user's input, the terminal device sends a start command to the drone, causing the drone to hover at the entrance of the target cable trench and adjust its second posture to match the first posture of the control device. This means aligning the drone's camera with the orientation of the smart glasses worn by the maintenance personnel. This ensures that the position and posture of the control device and the drone remain the same during subsequent inspections, improving the accuracy of the inspections.

[0061] S202. The UAV receives the start command sent by the control equipment, hovers at the entrance of the target cable trench according to the hovering command, and adjusts the second pose to the same pose as the first pose.

[0062] The second pose is the real-time pose of the drone.

[0063] Understandably, when the drone receives the start command from the control device, it starts up and hovers at the entrance of the target cable trench according to the hovering command, and adjusts the second pose to be the same as the first pose so that it can keep in sync with the control device.

[0064] S203. During the flight of the UAV following the control equipment within the target cable trench, the UAV acquires real-time video images of the target cable trench and transmits them to the control equipment.

[0065] Optionally, during the flight of the drone following the control device, the drone measures the distance to objects inside the target cable trench in real time using distance measuring sensors set around the drone's body; when it is determined that the distance to the objects inside the target cable trench is less than a set threshold, the distance between the drone and the objects inside the target cable trench is adjusted to achieve obstacle avoidance.

[0066] It should be noted that the UAV can acquire the first pose of the control device and the position information of the control device in real time; then, based on the first pose of the control device, the second pose of the UAV is adjusted to be the same as the first pose; then, based on the position information of the control device, the relative position of the UAV and the control device is adjusted through a high-precision positioning module to achieve dynamic following flight of the control device.

[0067] It should be understood that during the drone's flight following the control equipment within the target cable trench, the drone's planar position remains consistent with the position of the control equipment (i.e., the maintenance personnel, or the smart glasses) in real time, and the drone's forward orientation (i.e., the second attitude) also remains the same as the control equipment's forward orientation (i.e., the first attitude). Furthermore, the ranging sensors positioned around the drone's body, with obstacle avoidance enabled, continuously monitor the distance between the drone and objects within the target cable trench (i.e., obstacles ahead) to ensure the drone is not interfered with and can operate normally. If obstacle avoidance is required, the drone always maintains the closest possible distance to the control equipment. In addition, the drone transmits video images to the control equipment in real time via a wireless link.

[0068] S204. The control equipment receives video images of the target cable trench transmitted by the UAV.

[0069] The video images were acquired in real time by the drone following the control equipment as it flew within the target cable trench.

[0070] Understandably, the control equipment receives real-time video images of the target cable trench transmitted by the drone in order to inspect the actual situation inside the target cable trench.

[0071] S205. The control device sends control commands to the drone based on the second instruction input by the user.

[0072] Among them, the control commands are used to instruct the UAV to perform corresponding defect recording operations on the target cable trench in order to achieve acceptance of the internal condition of the target cable trench.

[0073] Understandably, the control equipment inspects the target cable trench based on video images transmitted by the drone. When it identifies a location requiring intervention, the control equipment sends a control command to the drone via a second command input by the user through voice. This command instructs the drone to perform the corresponding defect recording operation on the target cable trench, thereby achieving acceptance of the internal condition of the target cable trench. In this way, maintenance personnel can conduct comprehensive, dynamic acceptance of the cable trench's civil engineering quality and cable laying quality without entering the cable trench.

[0074] S206. The UAV receives control commands sent by the control equipment.

[0075] S207. The UAV performs corresponding operations on the target cable trench according to the control command in order to conduct acceptance of the internal conditions of the target cable trench.

[0076] Understandably, drones perform actions such as taking photos at fixed points, marking points, and generating structural defect labels based on received commands in order to inspect the internal condition of the target cable trench.

[0077] The cable trench acceptance method based on UAV provided in this application involves the control device first sending a start command to the UAV when a user conducts cable acceptance. After the UAV acquires real-time video images of the target cable trench, it transmits them to the control device. During this process, the UAV, equipped with a high-definition camera, can acquire high-quality images within the cable trench and transmit them to the control device in real-time via a stable transmission system. This allows for clear, unobstructed images during the acceptance process, aiding in analysis and decision-making. Then, based on a second instruction from the user, a control command is sent to the UAV, enabling it to perform corresponding operations on the target cable trench to assess its internal condition. The UAV can perform different operations based on the control command, such as adjusting its flight angle, photographing specific areas, or taking close-up shots. This flexibility allows for more precise cable trench acceptance, especially in hard-to-reach or dangerous areas. Therefore, this method achieves rapid cable trench acceptance, reduces human intervention, improves acceptance efficiency, and enhances operational safety.

[0078] Figure 3 System illustration of the UAV-based cable trench acceptance method provided in this application embodiment. Figure 2 ,like Figure 3 As shown, in this embodiment... Figure 2 Based on the examples, the process of defect acceptance for drones is described in detail, and the method includes:

[0079] S301. When the second instruction is a photo recording instruction, the control device generates a control command containing a photo recording instruction upon receiving the photo recording instruction.

[0080] Understandably, when inspection personnel discover a fault in the cable trench based on video images received by the control equipment and need to record it, they send a second command to the control equipment via voice. This command instructs them to take a picture of the fault location. The control equipment then receives and parses the picture recording command, generating a corresponding control command containing instructions to take the picture. This is further encapsulated into specific commands for controlling the drone to take the picture. This approach improves the automation level of the picture-taking process, reduces manual intervention, facilitates defect elimination, and allows for before-and-after comparisons after defect elimination, ensuring that each defect is identified and eliminated.

[0081] S302. Send a control command containing a photo-taking instruction to the drone so that the drone can capture real-time images of the target cable trench according to the photo-taking instruction and record the current position.

[0082] Understandably, the control device sends control commands to the drone via a wireless link, and the drone receives and executes the control commands.

[0083] In another possible implementation, when the second instruction is a zoom-in instruction, the control device generates a control command containing a zoom-in instruction upon receiving the zoom-in instruction; then, the control device sends the control command containing the zoom-in instruction to the UAV, so that the UAV zooms in on the real-time image of the target cable trench in the screen according to the zoom-in instruction.

[0084] It should be understood that when inspection personnel discover an unconfirmed fault location within the cable trench based on video images received by the control equipment, requiring further confirmation, they send a second command to the control equipment via voice. This command zooms in on the fault location, and the control equipment receives and parses the second command to generate a corresponding control command containing zoom-in instructions. This method enables maintenance personnel to more accurately identify and address defects, avoiding wasted time during subsequent repairs due to uncertainties about the fault, thus improving the efficiency of cable trench maintenance.

[0085] S303, The UAV receives control commands sent by the control equipment.

[0086] S304. The UAV captures real-time images of the target cable trench according to the photo-taking instructions in the control command and records its current position.

[0087] Among them, the control command is generated by the control device when it receives the photo recording instruction, and the photo recording instruction is the control command.

[0088] Understandably, after receiving the control command from the control equipment, the drone takes real-time pictures of the target cable trench according to the photo instruction in the control command, and performs positioning processing based on its own high-precision positioning device to record the current position, so that subsequent maintenance personnel can quickly check for defects, improve the accuracy and traceability of inspection data, and reduce manual operation costs.

[0089] Correspondingly, when the control command includes a zoom-in instruction, the UAV receives the control command sent by the control device and zooms in to display the real-time image of the target cable trench in the screen according to the zoom-in instruction in the control command.

[0090] Among them, the control command is generated by the control device when it receives the zoom-in viewing instruction, and the zoom-in viewing instruction is the control command.

[0091] Understandably, after receiving the control command from the control equipment, the drone will magnify the real-time image of the target cable trench according to the magnification instructions in the control command, so that the inspection personnel can examine the location of the fault to be confirmed in detail and conduct fault diagnosis.

[0092] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device 40 provided in this embodiment includes at least one processor 401 and a memory 402. Optionally, the device 40 further includes a communication component 403. The processor 401, memory 402, and communication component 403 are connected via a bus 404.

[0093] In a specific implementation, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to perform the above-described method.

[0094] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0095] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0096] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0097] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0098] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0099] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0100] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0101] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0102] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0104] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, 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 of the various embodiments of this 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.

[0105] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0106] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A cable trench acceptance method based on unmanned aerial vehicles (UAVs), applied to control equipment, characterized in that, The method includes: According to the first instruction input by the user, a start command is sent to the drone; the start command includes a hovering instruction and the first pose of the control device; so that the drone hovers at the entrance of the target cable trench according to the hovering instruction, and adjusts the second pose to the same pose as the first pose; The system receives video images of the target cable trench transmitted by the UAV; the video images are acquired in real time by the UAV while it is flying in the target cable trench following the control device. According to the second instruction input by the user, a control command is sent to the drone. The control command is used to instruct the drone to perform a corresponding defect recording operation on the target cable trench in order to achieve acceptance of the internal condition of the target cable trench.

2. The method according to claim 1, characterized in that, The second instruction is a photo recording instruction; the step of sending control commands to the drone based on the second instruction input by the user includes: Upon receiving the photographing instruction, a control command containing the photographing instruction is generated; The control command containing the photo-taking instruction is sent to the drone so that the drone can capture real-time images of the target cable trench according to the photo-taking instruction and record the current position.

3. The method according to claim 1, characterized in that, The second instruction is a zoom-in viewing instruction; the step of sending control commands to the drone based on the second instruction input by the user includes: Upon receiving the zoom-in viewing instruction, a control command containing the zoom-in viewing instruction is generated; The control command containing the zoom-in view instruction is sent to the drone so that the drone zooms in on the real-time image of the target cable trench in the screen according to the zoom-in view instruction.

4. A cable trench acceptance method based on unmanned aerial vehicles (UAVs), applied to UAVs, characterized in that, The method includes: Receive a start command sent by the control device, the start command including a hover command and the first position of the control device; The drone hovers at the entrance of the target cable trench according to the hovering command, and adjusts its second pose to be the same as the first pose; wherein, the second pose is the real-time pose of the drone. During flight while following the control device within the target cable trench, real-time video images of the target cable trench are acquired and transmitted to the control device; Receive control commands sent by the control device; According to the control command, the corresponding operation is performed on the target cable trench to achieve acceptance of the internal condition of the target cable trench.

5. The method according to claim 4, characterized in that, The control command includes a photo-taking instruction; the step of performing corresponding operations on the target cable trench according to the control command includes: Receive the control command sent by the control device; According to the photo-taking instruction in the control command, a real-time image of the target cable trench is captured and the current position is recorded; the control command is generated by the control device when it receives the photo-taking and recording instruction, and the photo-taking and recording instruction is the control command.

6. The method according to claim 4, characterized in that, The control command includes a zoom-in viewing instruction; the step of performing corresponding operations on the target cable trench according to the control command includes: Receive the control command sent by the control device; According to the zoom-in instruction in the control command, the real-time image of the target cable trench in the display screen is zoomed in; the control command is generated by the control device when it receives the zoom-in instruction, and the zoom-in instruction is the control command.

7. The method according to claim 4, characterized in that, The UAV has a built-in high-precision positioning module; the method further includes: Real-time acquisition of the first pose of the control device and the position information of the control device; Based on the first pose of the control device, adjust the second pose of the machine body to be the same as the first pose. Based on the position information of the control device, the relative position between the fuselage and the control device is adjusted by a high-precision positioning module to achieve dynamic following flight of the control device.

8. The method according to claim 4, characterized in that, The method further includes: During flight following the control device, the distance to the target object inside the cable trench is measured in real time using ranging sensors installed around the drone's fuselage. When the distance between the drone and the object inside the target cable trench is determined to be less than a set threshold, the distance between the drone and the object inside the target cable trench is adjusted to achieve obstacle avoidance.

9. A cable trench acceptance system based on unmanned aerial vehicles (UAVs), characterized in that, The system includes: a control device for implementing the method as described in any one of claims 1 to 3, and a drone for implementing the method as described in any one of claims 4 to 7.

10. The system according to claim 9, characterized in that, The control device is smart glasses.

11. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-8.

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