Unmanned aerial vehicle inspection control method and apparatus, device, and unmanned aerial vehicle inspection apparatus

Abstract

The present invention relates to the technical field of electronics. Disclosed are an unmanned aerial vehicle inspection control method and apparatus, a device, and an unmanned aerial vehicle inspection apparatus. In the method provided by the present invention, a controller in the unmanned aerial vehicle inspection apparatus acquires ranging information and / or image information of a visual marker during an inspection process, and generates movement control information on the basis of the ranging information and / or the image information of the visual marker and position information of a plurality of hovering points in a preset inspection route, to control the unmanned aerial vehicle inspection apparatus to sequentially move to the hovering points according to the inspection route, so as to implement inspection. Without relying on GPS positioning information, and without relying on wireless communication during flight, internal positioning of a wind turbine unit and autonomous inspection path planning can be implemented by only relying on the ranging information and / or the image information of the visual marker collected by the apparatus, thereby overcoming the technical problem of autonomous inspection by an unmanned aerial vehicle in a closed space, implementing autonomous inspection of the interior of the wind turbine unit, significantly reducing the workload of manual inspection, and improving the inspection quality and efficiency.

Description

Unmanned aerial vehicle inspection control method, device and equipment and unmanned aerial vehicle inspection device

[0001] Cross-reference to Related Applications

[0002] The present disclosure claims priority to the Chinese patent application No. 202411034727.1, filed on July 30, 2024, entitled “Unmanned aerial vehicle inspection control method, device and equipment and unmanned aerial vehicle inspection device”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of electronics, in particular to an unmanned aerial vehicle inspection control method, device and equipment and unmanned aerial vehicle inspection device. BACKGROUND

[0004] With the large-scale development of wind power, the intelligent operation and maintenance of wind turbine generators is becoming more and more important. In order to ensure the reliable operation of wind turbine generators, operation and maintenance personnel need to regularly inspect the wind turbine generators to discover abnormal conditions of the generators in time. The traditional inspection mode is manual inspection by a telescope or a spiderman. At present, unmanned aerial vehicle inspection of wind turbine generators from the outside has been widely used, and unmanned aerial vehicle autonomous inspection based on differential positioning technology has also developed rapidly and started to be applied to the external intelligent inspection of wind turbine generators. However, for the internal inspection of wind turbine generators, personnel still need to enter the inside of the tower and the blades for inspection, and manual inspection is low in efficiency and high in safety risk. In order to overcome the problem of manual inspection of wind turbine generators, some online monitoring cameras, guide rail robots or crawling robots have been used for inspection in some pilot applications. However, the inspection range of the above methods is limited, and the inspection efficiency is still not high. Moreover, the GPS and RTK positioning technologies have weak or no signal in the internal area of the wind turbine, which results in that the robot cannot be accurately positioned, the robot cannot be well controlled, and the unmanned aerial vehicle inspection technology solution applied to the outdoor cannot be applied to the internal inspection of the wind turbine. SUMMARY

[0005] Therefore, the present application provides an unmanned aerial vehicle inspection control method, device and equipment and unmanned aerial vehicle inspection device to solve the problem that the method of using a robot to inspect the inside of a wind turbine has a limited inspection range and cannot accurately control the robot due to weak signals in the wind turbine.

[0006] In a first aspect, the present application provides an unmanned aerial vehicle inspection control method, which comprises:

[0007] acquire preset inspection route information of an internal area of a wind turbine to be inspected, the preset inspection route including position information of a plurality of hovering points in the internal area of the wind turbine to be inspected, the preset inspection route information being determined based on unit basic information of the wind turbine to be inspected; when it is monitored that the unmanned aerial vehicle inspection device enters the internal area of the wind turbine to be inspected, acquire ranging information and / or image information of a visual marker in real time; generate motion control information based on the ranging information and / or the image information of the visual marker and the position information of the plurality of hovering points, the motion control information being used to control the unmanned aerial vehicle inspection device to move to each hovering point in turn according to the inspection route, so that the unmanned aerial vehicle inspection device collects inspection information of the corresponding hovering point.

[0008] The unmanned aerial vehicle inspection control method provided by the application is applied to a controller in an unmanned aerial vehicle inspection device, and preset inspection route information of an internal area of a wind turbine to be inspected is acquired, the preset inspection route including position information of a plurality of hovering points in the internal area of the wind turbine to be inspected; when it is monitored that the unmanned aerial vehicle inspection device enters the internal area of the wind turbine to be inspected, ranging information and / or image information of a visual marker is acquired in real time; motion control information is generated based on the ranging information and / or the image information of the visual marker and the position information of the plurality of hovering points, the motion control information being used to control the unmanned aerial vehicle inspection device to move to each hovering point in turn according to the inspection route, so that the unmanned aerial vehicle inspection device collects inspection information of the corresponding hovering point. The method provided by the application acquires ranging information and / or image information of a visual marker in the inspection process, generates motion control information based on the ranging information and / or the image information of the visual marker and the position information of a plurality of hovering points in a preset inspection route, controls the unmanned aerial vehicle inspection device to move to each hovering point in turn according to the inspection route, and realizes inspection, without relying on GPS positioning information and wireless communication in the flight process, and only relying on the ranging information and / or the image information of the visual marker collected by itself to realize internal positioning of the unit and autonomous inspection path planning, thereby overcoming the technical difficulty of autonomous inspection of an unmanned aerial vehicle in a closed space, realizing autonomous inspection of the internal area of a wind turbine, and significantly reducing the workload of manual inspection and improving the quality and efficiency of inspection.

[0009] In an optional implementation, if the internal area of the wind turbine to be inspected is a tower drum, the tower drum includes a plurality of tower drum segments, and the step of generating motion control information based on the ranging information and / or the image information of the visual marker and the position information of the plurality of hovering points includes: when the unmanned aerial vehicle inspection device needs to inspect a target tower drum segment, acquiring position information of a segmented through hole corresponding to the target tower drum segment; and controlling the unmanned aerial vehicle inspection device to enter the target tower drum segment based on the position information of the segmented through hole corresponding to the target tower drum segment.

[0010] The method provided by the optional embodiment controls the unmanned aerial vehicle inspection device to enter the target tower section through the position information of the corresponding segmented through hole of the target tower section, so that the unmanned aerial vehicle inspection device can accurately enter the target tower section for inspection.

[0011] In an optional embodiment, the control of the unmanned aerial vehicle inspection device to enter the target tower section for inspection based on the position information of the corresponding segmented through hole of the target tower section comprises:

[0012] When the unmanned aerial vehicle inspection device is monitored to enter the target tower section, tower inspection motion control information is generated based on the real-time acquired ranging information and / or image information of the visual marker and preset tower inspection route information inside the tower, and the unmanned aerial vehicle inspection device moves to each hovering point in turn according to the preset tower inspection route information, so that the unmanned aerial vehicle inspection device collects inspection information of the corresponding hovering point.

[0013] When the spatial distance satisfies a first relationship, it is determined that the unmanned aerial vehicle inspection device moves to the hovering point, the spatial distance is determined according to the real-time acquired ranging information and / or image information of the visual marker, the spatial distance information comprises spatial distances of multiple directions measured by the unmanned aerial vehicle inspection device in the tower, and the first relationship is:

[0014] Wherein, lf, lb, ll, lr and lu are respectively the spatial distances of the front, rear, left, right and upper directions measured by the unmanned aerial vehicle inspection device in the tower, Δd is an error value, and df, db, dl, dr, du and dd are respectively the size information of the unmanned aerial vehicle inspection device center point from the front, rear, left, right, upper and lower edges.

[0015] In an optional embodiment, if the internal area of the wind turbine to be inspected is a blade cavity, the step of generating motion control information based on the ranging information and / or image information of the visual marker and the position information of the multiple hovering points further comprises: acquiring the position information and / or inclination angle of the blade root through hole of the blade, the inclination angle of the blade being calculated from the image information of the target visual marker collected by the unmanned aerial vehicle inspection module, and the target visual marker being arranged at the edge position of the cavity of the blade to be inspected; determining the flight route angle of the unmanned aerial vehicle inspection device based on the position information and / or inclination angle of the blade root through hole of the blade; and controlling the unmanned aerial vehicle inspection device to enter the blade cavity for inspection based on the flight route angle of the unmanned aerial vehicle inspection device.

[0016] The method provided by the optional embodiment determines the flight route angle of the unmanned aerial vehicle inspection device based on the inclination angle of the blade, and controls the unmanned aerial vehicle inspection device to enter the blade cavity for inspection according to the flight route angle of the unmanned aerial vehicle inspection device, so that the unmanned aerial vehicle inspection device can accurately enter the blade cavity.

[0017] In an optional implementation, the flight route angle of the UAV inspection device is used to control the UAV inspection device to enter the inner cavity of the blade for inspection, including:

[0018] The UAV inspection device is monitored to enter the inner cavity of the blade, and the UAV inspection device is controlled to perform inspection based on the real-time acquired ranging information and / or image information of the visual marker and preset inner cavity inspection route information of the blade, the inner cavity of the blade including a leading edge inner cavity and a trailing edge inner cavity.

[0019] In an optional implementation, the internal region of the wind turbine to be inspected further includes a wind turbine nacelle or a hub.

[0020] In a second aspect, the present application provides a UAV inspection device, including: an image acquisition module, a ranging module, a UAV module, and a controller.

[0021] The controller is connected with the image acquisition module, the ranging module, and the UAV module respectively, and is used to execute the UAV inspection control method of the first aspect or any corresponding implementation thereof.

[0022] In a third aspect, the present application provides a UAV inspection control device, including: a first acquisition module, used to acquire preset inspection route information of an internal region of a wind turbine to be inspected, the preset inspection route including position information of a plurality of hovering points in the internal region of the wind turbine to be inspected, the preset inspection route information being determined by turbine basic information of the wind turbine to be inspected; a second acquisition module, used to acquire real-time ranging information and / or image information of a visual marker when a UAV inspection device is monitored to enter the internal region of the wind turbine to be inspected; and a first control module, used to generate motion control information based on the ranging information and / or the image information of the visual marker and the position information of the plurality of hovering points, the motion control information being used to control the UAV inspection device to move to each hovering point according to the inspection route, so that the UAV inspection device acquires inspection information of the corresponding hovering point.

[0023] In a fourth aspect, the present application provides a computer device, including: a memory and a processor, which are communicatively connected with each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the UAV inspection control method of the first aspect or any corresponding implementation thereof.

[0024] In a fifth aspect, the present application provides a computer readable storage medium, which stores computer instructions, the computer instructions being used to make a computer execute the UAV inspection control method of the first aspect or any corresponding implementation thereof.

[0025] In a sixth aspect, the present application provides a computer program product comprising computer instructions for causing a computer to execute the unmanned aerial vehicle inspection control method of the first aspect or any of its possible implementation forms. Advantages:

[0026] The above technical solution provided by the embodiments of the present disclosure has the following advantages compared with the prior art: by acquiring ranging information and / or image information of visual markers in the inspection process, generating control information based on the ranging information and / or image information of the visual markers and position information of multiple hovering points in the preset inspection route, and controlling the unmanned aerial vehicle inspection device to move to each hovering point in turn according to the inspection route to realize inspection, the unmanned aerial vehicle inspection device does not need to rely on GPS positioning information and wireless communication in the flight process, and can realize internal positioning and autonomous inspection path planning by relying only on the ranging information and / or image information of the visual markers collected by itself, thereby overcoming the technical difficulty of autonomous inspection of the unmanned aerial vehicle in a closed space and realizing autonomous inspection of the wind turbine inside, which can significantly reduce the workload of manual inspection and improve the inspection quality and efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the specific embodiments or the prior art of the present application, the drawings needed in the specific embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0028] Fig. 1 is a flowchart of the unmanned aerial vehicle inspection control method according to an embodiment of the present application;

[0029] Fig. 2 is a flowchart of another unmanned aerial vehicle inspection control method according to an embodiment of the present application;

[0030] Fig. 3 is a schematic diagram of one specific example of the unmanned aerial vehicle inspection device inspecting a tower tube;

[0031] Fig. 4 is a schematic diagram of another specific example of the unmanned aerial vehicle inspection device inspecting a tower tube;

[0032] Fig. 5 is a schematic diagram of one specific example of the unmanned aerial vehicle inspection device inspecting the inner cavity of a wind turbine blade;

[0033] Fig. 6 is a schematic diagram of another specific example of the unmanned aerial vehicle inspection device inspecting the inner cavity of a wind turbine blade;

[0034] Fig. 7 is a structural block diagram of the unmanned aerial vehicle inspection device according to an embodiment of the present application;

[0035] Fig. 8 is a structural block diagram of the unmanned aerial vehicle inspection control device according to an embodiment of the present application;

[0036] FIG. 9 is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0038] In the related art, the use of unmanned aerial vehicles for external wind turbine inspection has been widely applied, and unmanned aerial vehicle autonomous inspection based on differential positioning technology has also been rapidly developed, and has begun to be applied to external intelligent inspection of wind turbines. However, for the internal inspection of wind turbines, personnel still need to enter the tower and blade interiors for inspection, and manual inspection is low in efficiency and high in safety risk. In order to overcome the problem of manual inspection of wind turbines, some pilot applications using online monitoring cameras, guide rail robots or crawling robots for inspection have appeared on the market, but the inspection range of the above methods is relatively limited, and the inspection efficiency is still not high. Moreover, since the GPS and RTK positioning technologies have weak or no signals in the internal area of the wind turbine, the robot cannot be accurately positioned, and the robot cannot be well controlled, resulting in that the unmanned aerial vehicle inspection technology solution applied outdoors cannot be applied to the internal inspection of wind turbines.

[0039] Therefore, the unmanned aerial vehicle inspection control method provided by the embodiments of the present application can be applied to the controller in the unmanned aerial vehicle inspection device to realize unmanned aerial vehicle inspection control. The method provided by the present application generates control information based on the ranging information and / or image information of the visual markers, the position information of the plurality of hovering points in the preset inspection route, to control the unmanned aerial vehicle inspection device to move to each hovering point in turn according to the inspection route, to realize inspection, without relying on GPS positioning information, and without relying on wireless communication during flight. Only relying on the ranging information and / or image information of the visual markers collected by itself can realize internal positioning and autonomous inspection path planning of the unit, overcoming the technical difficulty of autonomous inspection of unmanned aerial vehicles in a closed space, realizing autonomous inspection of the internal wind turbine, and significantly reducing the workload of manual inspection and improving the inspection quality and efficiency.

[0040] According to the embodiment of the present application, an unmanned aerial vehicle inspection control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in a different order.

[0041] In the present embodiment, an unmanned aerial vehicle inspection control method is provided, which can be used for the controller in the unmanned aerial vehicle inspection device described above. In the present embodiment, the unmanned aerial vehicle inspection device is provided with an image acquisition module and a distance measuring module. When the unmanned aerial vehicle inspection device is inspecting, the distance measuring module can measure the distance between the unmanned aerial vehicle inspection device and the surrounding obstacles, and the image acquisition module can acquire the visual information of the surroundings to realize autonomous flight. FIG. 1 is a flowchart of the unmanned aerial vehicle inspection control method according to the embodiment of the present application. As shown in FIG. 1, the flow includes the following steps:

[0042] In step S101, the preset inspection route information of the internal area of the wind turbine to be inspected is acquired. The preset inspection route includes the position information of a plurality of hovering points in the internal area of the wind turbine to be inspected.

[0043] By way of example, the internal area of the wind turbine to be inspected can be the internal area of the wind turbine generator that needs to be inspected. In the present embodiment, the internal area of the wind turbine to be inspected can include, but is not limited to, the wind turbine tower, the wind turbine blade inner cavity, the wind turbine nacelle and the hub. The preset inspection route information is an inspection route determined according to the inspection requirements and the structure of the internal area of the wind turbine to be inspected. The preset inspection route includes the position information of a plurality of hovering points. Each hovering point is used for the unmanned aerial vehicle inspection device to hover at the corresponding position to acquire inspection information in each direction. The preset inspection route information is determined by the unit basis information of the wind turbine to be inspected. The unit basis information of the wind turbine to be inspected includes the spatial size information of the internal area of the wind turbine.

[0044] In step S102, when it is monitored that the unmanned aerial vehicle inspection device enters the internal area of the wind turbine to be inspected to work, distance measuring information and / or image information of visual markers are acquired in real time.

[0045] By way of example, the distance measuring information is monitored by a distance measuring module provided in the unmanned aerial vehicle inspection device. The distance measuring module can be a non-contact distance measuring module using laser, radar or image vision, etc. The image information of the visual markers is acquired by an image acquisition module.

[0046] In step S103, motion control information is generated based on the distance measuring information and / or the image information of the visual markers, and the position information of the plurality of hovering points. The motion control information is used to control the unmanned aerial vehicle inspection device to move to each hovering point in turn according to the inspection route, so that the unmanned aerial vehicle inspection device can acquire the inspection information of the corresponding hovering point.

[0047] Exemplarily, the ranging information and / or the image information of the visual marker can be used to determine the position information of the unmanned aerial vehicle inspection device, and the motion control information can be generated based on the position information of the device and the position information of the plurality of hovering points, so as to control the unmanned aerial vehicle inspection device to move to the corresponding hovering point for inspection. In the embodiment of the present application, if the internal area of the wind turbine to be inspected is a tower, the unmanned aerial vehicle module first hovers at a certain position, collects image information in the tower through the gimbal pitch, and then rotates the unmanned aerial vehicle module or the gimbal to complete the image information collection of one round of the tower. Then, the unmanned aerial vehicle module moves to the next hovering point and continues to collect image information until all the inspection tasks in the tower are completed.

[0048] The unmanned aerial vehicle inspection control method provided in the embodiment can obtain the ranging information and / or the image information of the visual marker during the inspection, generate the motion control information based on the ranging information and / or the image information of the visual marker and the position information of the plurality of hovering points in the preset inspection route, and control the unmanned aerial vehicle inspection device to move to each hovering point according to the inspection route, so as to realize the inspection. The method does not rely on the GPS positioning information and does not rely on the wireless communication during the flight. The internal positioning of the wind turbine and the autonomous inspection path planning can be realized only by relying on the ranging information and / or the image information of the visual marker collected by the unmanned aerial vehicle, the technical problem of the autonomous inspection of the unmanned aerial vehicle in the closed space is overcome, the autonomous inspection of the wind turbine is realized, and the workload of the artificial inspection can be significantly reduced and the inspection quality and efficiency can be improved.

[0049] In the embodiment, an unmanned aerial vehicle inspection control method is provided, which can be used for the controller in the unmanned aerial vehicle inspection device. In the embodiment of the present application, the unmanned aerial vehicle inspection device is provided with an image collection module and a ranging module. The ranging module can measure the distance between the unmanned aerial vehicle inspection device and the surrounding obstacles, and the image collection module can collect the visual information of the surroundings, so as to realize the autonomous flight. FIG. 1 is a flowchart of the unmanned aerial vehicle inspection control method according to the embodiment of the present application. As shown in FIG. 1, the flowchart includes the following steps:

[0050] In step S201, the preset inspection route information of the internal area of the wind turbine to be inspected is obtained. The preset inspection route includes the position information of the plurality of hovering points in the internal area of the wind turbine to be inspected, and the preset inspection route information is determined based on the unit basis information of the wind turbine to be inspected. For details, please refer to step S102 of the embodiment shown in FIG. 1, which will not be repeated here.

[0051] In step S202, when it is monitored that the unmanned aerial vehicle inspection device enters the internal area of the wind turbine to be inspected to work, the ranging information and / or the image information of the visual marker is obtained in real time. For details, please refer to step S102 of the embodiment shown in FIG. 1, which will not be repeated here.

[0052] In step S203, the position information of the plurality of hovering points is used to generate motion control information based on the ranging information and / or the image information of the visual marker, and the motion control information is used to control the UAV inspection device to move to each hovering point according to the inspection route, so that the UAV inspection device collects inspection information of the corresponding hovering point.

[0053] Specifically, before step S203, the following steps are further included.

[0054] In step S2031, when the UAV inspection device needs to inspect the target tower section, the position information of the segmented through hole corresponding to the target tower section is obtained.

[0055] For example, in the embodiment of the present application, a visual marker is arranged on the inner wall of the tower section on the side closer to the center of the segmented through hole above the visual marker. When the UAV inspection device needs to inspect the target tower section, the image acquisition module of the UAV inspection device acquires image information of the corresponding visual marker to determine the position of the visual marker, and the position information of the segmented through hole corresponding to the target tower section is determined based on the position information of the visual marker.

[0056] In step S2032, the UAV inspection device is controlled to enter the target tower section for inspection based on the position information of the segmented through hole corresponding to the target tower section.

[0057] For example, the target tower section can be the next tower section that the UAV inspection device needs to enter. When the UAV inspection device needs to enter the next tower section, the UAV inspection device is first positioned above or below the segmented through hole in the tower section, and then vertically flies up or down to pass through the smaller segmented through hole to switch between different tower sections. In the embodiment of the present application, when the UAV module needs to enter the next tower section, it is assumed that the distance between the center of the segmented through hole in the tower section and the inner wall of the tower section on the closer side is k, and a visual marker is arranged on the inner wall of the tower section on the closer side above the center of the segmented through hole, and the distance between the visual marker and the top plate of the tower section is hk. When the image acquisition module searches for the visual marker, the UAV module is moved so that the visual marker is at the image center position (or a certain position) when the lens attitude is horizontal (or at a certain angle). Assuming that df, db, dl, dr, du, and dd are the sizes of the front, back, left, right, up, and down edges of the UAV inspection device center point, and the ranging module measures the spatial distances of the front, back, left, right, up, and down edges of the device as lf, lb, ll, lr, lu, and ld. Assuming that the lens aiming at the visual marker is in the front, and the position of the UAV module satisfies the following formula (1), and then vertically moving downward by H-hk, the UAV module can enter the next tower section through the segmented through hole in the tower section.

[0058] Wherein, Δd is the allowable error of the UAV inspection device from the hovering point.

[0059] As shown in FIG. 3, when the unmanned aerial inspection device needs to enter the second tower section 4 from the first tower section 3, it is assumed that the distance from the center of the section-through hole 6 to the inner wall 2 of the closer side of the tower is k, and a visual marker 7 is arranged on the inner wall of the closer side of the tower above the center of the section-through hole, and the distance from the visual marker 7 to the top plate of the tower section is hk. When the image acquisition module searches for the visual marker 7, the unmanned aerial module is moved so that the visual marker is in the image center position (or a certain position) when the lens is horizontal (or at a certain angle), and it is assumed that the lens aiming at the visual marker is in the front, and the position of the unmanned aerial module satisfies formula (1), and then the unmanned aerial module is moved vertically downward by H-hk, so as to enter the next tower section through the section-through hole 6.

[0060] In the embodiments of the present application, in the case where no visual marker is arranged, the unmanned aerial module can also enter the next tower section autonomously through the compass module and the azimuth angle of the section-through hole.

[0061] In some optional embodiments, the step S2032 described above includes:

[0062] When it is monitored that the unmanned aerial inspection device enters the target tower section, tower inspection motion control information is generated based on the real-time acquired ranging information and / or image information of the visual marker and preset tower inspection route information inside the tower, and the unmanned aerial inspection device moves to each hovering point in sequence according to the preset tower inspection route information, so as to collect inspection information of the corresponding hovering point; when the spatial distance satisfies a first relationship, it is determined that the unmanned aerial inspection device moves to the hovering point, the spatial distance is determined according to the real-time acquired ranging information and / or image information of the visual marker, the spatial distance information includes spatial distances of multiple directions measured by the unmanned aerial inspection device in the tower, and the first relationship is:

[0063] Wherein, lf, lb, ll, lr, lu are respectively the spatial distances of the front, rear, left, right and upper directions measured by the unmanned aerial inspection device in the tower, Δd is an allowable error value, and df, db, dl, dr, du, dd are respectively the size information of the center point of the unmanned aerial inspection device from the front, rear, left, right, upper and lower edges.

[0064] Referring to FIG. 4, the unmanned aerial vehicle inspection device inspects the i-th section of the tower tube, the inner diameter of the section of the tower tube is D, and the height is H. Assuming that the first suspension point of the unmanned aerial vehicle module is located at the center of the section of the tower tube at a distance of h1 from the top plate of the section of the tower tube, the second suspension point is located at the center of the section of the tower tube at a distance of h2 from the top plate of the section of the tower tube, the measured spatial distances in front, behind, left, right, up and down are lf, lb, ll, lr, lu and ld respectively, and when the measured spatial distances satisfy the above formula (2), the unmanned aerial vehicle module reaches the first suspension point.

[0065] When the unmanned aerial vehicle module enters the i-th section of the tower tube, it moves vertically downward by h1, and then moves according to the following movement rules:

[0066] If |h1-lu-du|>Ad, then move downward by h1-lu-du;

[0067] If lf+df>lb+db, then move forward by 0.5·(lf+df-lb-db), and if lf+df<lb+db, then move backward by 0.5·(lb+db-lf-df);

[0068] If ll+dl>lr+dr, then move leftward by 0.5·(ll+dl-lr-dr), and if ll+dl<lr+dr, then move rightward by 0.5·(lr+dr-ll-dl);

[0069] Until the above formula (2) is satisfied, it is considered that the unmanned aerial vehicle module moves to the first suspension point. After the first suspension point inspection is completed, it moves vertically downward by h2-h1, and then moves to the second suspension point using the above strategy, and continues the inspection task.

[0070] Specifically, if the internal area of the wind turbine to be inspected is the blade cavity, the above step S203 further includes:

[0071] Step S2033, when the unmanned aerial vehicle inspection device needs to enter the blade cavity, the position information and / or the inclination angle of the blade root through hole are acquired, the inclination angle of the blade is calculated from the image information of the target visual marker collected by the unmanned aerial vehicle inspection module, and the target visual marker is arranged at the edge position of the cavity of the blade to be inspected.

[0072] For example, as shown in FIG. 5, a visual marker 11 is arranged at a position close to the inner wall of the leading edge (or the trailing edge) of the wind turbine blade. Assuming that the distance between the center of the cavity of the leading edge 9 and the visual marker 11 is a1, and the distance between the center of the cavity of the trailing edge 10 and the visual marker 11 is a2. In order to adapt to the autonomous inspection of the wind turbine blade at any angle, a visual marker is arranged inside the hub of the unit, and the visual marker can indicate the angle of the wind turbine blade.

[0073] Step S2034: Determine the flight path angle of the UAV inspection device based on the position information of the blade root through the hole and / or the tilt angle.

[0074] For example, the drone module can calculate the blade angle using image vision detection technology, and then set the drone module's flight path angle to perform inspection of the blade's internal cavity.

[0075] Step S2035: Based on the flight path angle of the UAV inspection device, control the UAV inspection device to enter the blade cavity for inspection.

[0076] For example, in an embodiment of this application, as shown in FIG6, for a dwelling angle of... The blade (assuming the blade's angle of repose) Defined as the angle of the vertical line rotated counterclockwise to the center line of the blade), after the UAV module passes through the through hole at the root of the blade, when the image acquisition module searches for the visual marker, the UAV module is moved so that the visual marker is at the center position (or a certain position) of the image when the lens attitude is horizontal (or at a certain angle). Assuming that the lens aiming at the visual marker is in front, and the position of the UAV module satisfies the following formula (3), and then along the angle is The linear motion allows it to enter the inner cavity of the leading edge of the blade for inspection.

[0077] In some optional implementations, step S2035 above includes:

[0078] When the UAV inspection device is detected to be inspecting the blade interior, the UAV inspection device is controlled to perform inspection based on the real-time acquired ranging information and / or image information of visual markers and the preset blade interior inspection route information.

[0079] For example, in this embodiment of the application, the blade inner cavity includes a leading edge inner cavity and a trailing edge inner cavity. When inspecting the leading edge inner cavity of the wind turbine blade, the spatial distance between the front, back, left, right, up, and down of the UAV module is always satisfied with equation (4), and then continuously along the angle is The linear motion occurs simultaneously with the image acquisition module continuously acquiring image information of the leading edge cavity.

[0080] When the spatial distance between the drone and the blade tip satisfies equation (5), it is considered that the drone inspection device has reached the blade tip and cannot continue inspection. The drone inspection device then moves along an angle of... The straight-line return exits the leading edge cavity. lf+lb≤Δl or ll+lr≤Δl or lu+ld≤Δl(5)

[0081] Where Δl is the size parameter of the minimum space that the UAV module can enter.

[0082] After the UAV module flies out from the inner cavity of the leading edge, the image acquisition module searches for the visual marker, and the mobile UAV module is moved so that the visual marker is in the image center position (or a certain position) when the lens attitude is horizontal (or at a certain angle). Assuming that the lens aiming at the visual marker is in the front, and the UAV module position satisfies equation (6), then it can enter the inner cavity of the blade trailing edge and perform inspection by moving along a straight line with an angle of The inspection strategy of the UAV module for the trailing edge of the blade is similar to that for the leading edge.

[0083] When the UAV module measures a certain item in the front-back, left-right, up-down spatial distance to be greater than a certain large threshold value during the inspection of the inner cavity of the blade, it does not participate in the calculation of the corresponding item in equations (3)-(6). For example, if ll and lr are greater than 10m, then |ll+dl-lr-dr|≤Δd and ll+lr≤Δl in equations (3)-(6) do not participate in the calculation.

[0084] In some optional embodiments, the internal area of the wind turbine to be inspected further includes a wind turbine nacelle or hub. Exemplarily, when inspecting the wind turbine nacelle and hub, the UAV inspection device performs horizontal movement for inspection. During inspection, the front-back (or left-right) up-down spatial distance of the UAV module is always satisfied with equation (7), and then the UAV module constantly moves horizontally, while the image acquisition module constantly acquires image information.

[0085] When the UAV module measures the front-back, left-right, up-down spatial distance to satisfy equation (8), it is considered that the UAV module enters the corner and cannot continue to inspect, and then it exits horizontally to reposition. lf+lb≤Δl or ll+lr≤Δl or lu+ld≤Δl (8)

[0086] In some optional embodiments, the method further includes:

[0087] Step a1, if it is monitored that the power of the UAV inspection module is lower than the preset power, save the current inspection position information. Exemplarily, the preset power can be determined according to the demand, and the embodiments of the present application are not limited in this regard.

[0088] Step a2, control the UAV inspection module to return to the UAV nacelle module for charging.

[0089] Exemplarily, in the embodiments of the present application, when the UAV inspection device detects insufficient power during the inspection process, it saves the inspection position information and automatically returns to charge. After charging is completed, it automatically flies to the last inspection position and continues to complete the inspection task.

[0090] The unmanned aerial vehicle inspection control method provided by the embodiments of the present application does not rely on GPS position information, does not rely on wireless communication in the flight process, and can realize internal positioning of the machine set and autonomous inspection path planning only by relying on the measurement information of the unmanned aerial vehicle itself, thereby overcoming the technical difficulty of autonomous inspection of the unmanned aerial vehicle in a closed space. The device is arranged in the internal of the wind turbine, and can realize autonomous inspection of the wind turbine cabin, the tower drum and the internal of the blade at any angle by the unmanned aerial vehicle module, thereby significantly reducing the workload of manual inspection and improving the quality and efficiency of the inspection. In addition, the technical scheme provided by the present application is suitable for indoor and narrow and closed spaces (such as pipelines), is simple to realize, does not need complex site modification, has low implementation cost, is good in economy, and has good popularization prospect.

[0091] In the embodiments, an unmanned aerial vehicle inspection device is also provided. FIG. 7 is a structural block diagram of the unmanned aerial vehicle inspection device according to the embodiments of the present application. As shown in FIG. 7, the device comprises:

[0092] an image acquisition module 701, a distance measurement module 702, an unmanned aerial vehicle module 703 and a controller 704;

[0093] The controller 704 is connected with the image acquisition module 701, the distance measurement module 702 and the unmanned aerial vehicle module 703 respectively, and is used for executing the unmanned aerial vehicle inspection control method in the above embodiments.

[0094] Exemplarily, in the embodiments of the present application, the device further comprises an illumination module, a communication connection module and a charging connection module. The unmanned aerial vehicle module 703 is used for inspection flight and has an anti-collision function, and can be adapted to flight in a narrow space. The image acquisition module 701 is used for shooting visible light and / or infrared image information of the inspected object in the unmanned aerial vehicle inspection process, and can also be used for obtaining visual information around the unmanned aerial vehicle module to realize autonomous flight. The illumination module is connected with the unmanned aerial vehicle module or the image acquisition module, and is used for irradiating the inspected object, so that the image acquisition module 701 can still acquire clear visible light and / or infrared image information in a dim light environment. The distance measurement module 702 is used for measuring the spatial distance between the unmanned aerial vehicle module and the obstacles around the unmanned aerial vehicle module. The communication connection module and the charging connection module can be connected with the unmanned aerial vehicle cabin module. The unmanned aerial vehicle cabin module is used for parking the unmanned aerial vehicle module, and establishes communication connection and charging connection with the unmanned aerial vehicle module. The unmanned aerial vehicle cabin module can transmit data, instructions and other information with the unmanned aerial vehicle module through wired or wireless communication, and can charge the unmanned aerial vehicle module through contact or non-contact charging.

[0095] The device can further comprise a gimbal module, which is used for controlling the pitching or horizontal motion of the image acquisition module, and realizes image acquisition in a larger range at a single hovering point. The unmanned aerial vehicle inspection device can also have a compass function, which is used for distinguishing the direction and assisting in realizing autonomous flight.

[0096] A UAV inspection control device is also provided in the embodiments, which is used to implement the above embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated.

[0097] The embodiments provide a UAV inspection control device, as shown in FIG. 8, comprising:

[0098] The first acquisition module 801 is configured to acquire preset inspection route information of an internal area of a wind turbine to be inspected, the preset inspection route comprising position information of a plurality of hovering points in the internal area of the wind turbine to be inspected, and the preset inspection route information being determined by unit basis information of the wind turbine to be inspected.

[0099] The second acquisition module 802 is configured to acquire ranging information and / or image information of visual markers in real time when it is monitored that the UAV inspection device enters the internal area of the wind turbine to be inspected.

[0100] The first control module 803 is configured to generate motion control information based on the ranging information and / or the image information of the visual markers and the position information of the plurality of hovering points, the motion control information being used to control the UAV inspection device to move to each hovering point in sequence according to the inspection route, so that the UAV inspection device collects inspection information of the corresponding hovering point.

[0101] In some optional embodiments, the first control module 803 comprises:

[0102] The first acquisition submodule is configured to acquire position information of a segmented through hole corresponding to a target tower section when the UAV inspection device needs to inspect the target tower section.

[0103] The first control submodule is configured to control the UAV inspection device to enter the target tower section for inspection based on the position information of the segmented through hole corresponding to the target tower section.

[0104] In some optional embodiments, the first control submodule comprises:

[0105] The first inspection unit is configured to, when it is monitored that the UAV inspection device enters the target tower section, generate tower inspection motion control information based on the ranging information and / or the image information of the visual markers acquired in real time and preset tower inspection route information of the internal tower, the tower inspection motion control being used to control the UAV inspection device to move to each hovering point in sequence according to the preset tower inspection route information, so that the UAV inspection device collects inspection information of the corresponding hovering point.

[0106] When the spatial distance satisfies a first relationship, it is determined that the unmanned aerial vehicle inspection device moves to a hovering point, the spatial distance is determined according to the ranging information and / or image information of the visual marker obtained in real time, the spatial distance information includes spatial distances of multiple directions measured by the unmanned aerial vehicle inspection device in the tower tube, and the first relationship is:

[0107] Wherein, lf, lb, ll, lr, lu are spatial distances of front, back, left, right and up directions measured by the unmanned aerial vehicle inspection device in the tower tube, Δd is an error value, and df, db, dl, dr, du and dd are size information of the unmanned aerial vehicle inspection device center point from the front, back, left, right, up and down edges.

[0108] In some optional embodiments, the first control module 803 further includes:

[0109] A second acquisition sub-module is configured to acquire an inclination angle of the blade, and the position information and / or the inclination angle of the blade root passing hole are calculated from image information of a target visual marker collected by the unmanned aerial vehicle inspection module, and the target visual marker is arranged at an edge position of a cavity of the blade to be inspected.

[0110] A determination sub-module is configured to determine a flight route angle of the unmanned aerial vehicle inspection device based on the position information and / or the inclination angle of the blade root passing hole.

[0111] A second control sub-module is configured to control the unmanned aerial vehicle inspection device to enter the inner cavity of the blade for inspection based on the flight route angle of the unmanned aerial vehicle inspection device.

[0112] In some optional embodiments, the second control sub-module includes:

[0113] A second inspection unit is configured to control the unmanned aerial vehicle inspection device to perform inspection based on the ranging information and / or the image information of the visual marker obtained in real time and preset inner cavity inspection route information of the blade when it is monitored that the unmanned aerial vehicle inspection device enters the inner cavity of the blade, and the inner cavity of the blade includes a leading edge inner cavity and a trailing edge inner cavity.

[0114] In some optional embodiments, the internal area of the wind turbine to be inspected further includes a wind turbine generator cabin or a hub.

[0115] In some optional embodiments, the device includes:

[0116] A saving module is configured to save current inspection position information if it is monitored that the power of the unmanned aerial vehicle inspection module is lower than a preset power.

[0117] A fourth control module is configured to control the unmanned aerial vehicle inspection module to return to the unmanned aerial vehicle cabin module for charging.

[0118] Further function description of each module and unit is the same as the corresponding embodiment described above, and will not be repeated here.

[0119] The unmanned aerial vehicle inspection control device in the embodiment is presented in the form of functional units, and the units herein refer to ASIC (Application Specific Integrated Circuit) circuits, processors and memories for executing one or more software or fixed programs, and / or other devices that can provide the above functions.

[0120] The embodiment of the application also provides a computer device with the unmanned aerial vehicle inspection control device shown in Fig. 8.

[0121] Please refer to Fig. 9, which is a structural schematic diagram of a computer device provided by an optional embodiment of the application. As shown in Fig. 9, the computer device comprises one or more processors 10, a memory 20, and an interface for connecting various components, including a high-speed interface and a low-speed interface. Various components are communicatively connected with each other by different buses, and can be installed on a common motherboard or in other manners according to requirements. The processor can process instructions executed in the computer device, including instructions stored in the memory or graphics information of the memory for displaying a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories, if necessary. Similarly, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). One processor 10 is taken as an example in Fig. 9.

[0122] The processor 10 can be a central processor, a network processor or a combination thereof. The processor 10 can further comprise a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic gate array, a general array logic or any combination thereof.

[0123] The memory 20 stores instructions executable by the at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0124] The memory 20 can include a program storage area and a data storage area. The program storage area can store an operating system, application programs required for at least one function, etc. The data storage area can store data created by the computer device, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-transitory memory such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid state memory device. In some alternative embodiments, the memory 20 can optionally include memory that is remotely located with respect to the processor 10, and which can be connected to the computer device through a network. Examples of such networks include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communications network, and combinations thereof.

[0125] The memory 20 can include a volatile memory, such as a random access memory, and / or can include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid state memory device. The memory 20 can also include an array of multi-state flash memory cells, which can be used to store data and / or instructions in multiple states.

[0126] The computer device also includes a communications interface 30 for communicating with other devices or communication networks.

[0127] The embodiments of the present application also provide a computer readable storage medium. The above-mentioned method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or implemented as computer code to be originally stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and stored in a local storage medium, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned kinds of storage. It can be understood that the computer, processor, microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, processor, or hardware, the method shown in the above embodiments is implemented.

[0128] Part of the present application can be applied as a computer program product, for example, computer program instructions, when executed by a computer, through the operation of the computer, the method and / or technical solutions according to the present application can be called or provided. Those skilled in the art should understand that the form of computer program instructions in computer readable medium includes but is not limited to source file, executable file, installation package file and the like, accordingly, the way of computer program instructions executed by computer includes but is not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer readable medium can be any available computer readable storage medium or communication medium accessible to the computer.

[0129] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims. Industrial applicability

[0130] The unmanned aerial vehicle inspection control method provided by the present disclosure does not rely on GPS positioning information and wireless communication during flight, and can realize internal positioning and autonomous inspection path planning of the machine group only by relying on the ranging information and / or image information of the visual markers collected by itself, overcoming the technical difficulties of autonomous inspection of unmanned aerial vehicles in closed spaces, realizing autonomous inspection of the internal part of the wind turbine, significantly reducing the workload of manual inspection, improving the quality and efficiency of inspection, and having strong industrial applicability.

Claims

1. A method for controlling unmanned aerial vehicle inspection, characterized in that, The application is applied to a controller of an unmanned aerial vehicle inspection device, and the method comprises the following steps: acquiring preset inspection route information of an internal area of a wind turbine to be inspected, the preset inspection route comprising position information of a plurality of hovering points in the internal area of the wind turbine to be inspected, the preset inspection route information being determined by unit basic information of the wind turbine to be inspected; when it is monitored that the unmanned aerial vehicle inspection device enters the internal area of the wind turbine to be inspected to work, acquiring distance measurement information and / or image information of visual markers in real time; generating motion control information based on the distance measurement information and / or the image information of the visual markers and the position information of the plurality of hovering points, the motion control information being used to control the unmanned aerial vehicle inspection device to move to each hovering point in turn according to the inspection route, so that the unmanned aerial vehicle inspection device collects inspection information of the corresponding hovering point.

2. The method of claim 1, wherein, If the internal area of the wind turbine to be inspected is a tower drum, the tower drum comprises a plurality of tower drum segments, and the step of generating the motion control information based on the distance measurement information and / or the image information of the visual markers and the position information of the plurality of hovering points comprises the following steps: when the unmanned aerial vehicle inspection device needs to inspect a target tower drum segment, acquiring position information of a segmented through hole corresponding to the target tower drum segment; controlling the unmanned aerial vehicle inspection device to enter the target tower drum segment to perform inspection based on the position information of the segmented through hole corresponding to the target tower drum segment.

3. The method of claim 2, wherein, The step of controlling the unmanned aerial vehicle inspection device to enter the target tower drum segment to perform inspection based on the position information of the segmented through hole corresponding to the target tower drum segment comprises the following steps: when it is monitored that the unmanned aerial vehicle inspection device enters the target tower drum segment, generating tower drum inspection motion control information based on the distance measurement information and / or the image information of the visual markers acquired in real time and preset tower drum inspection route information in the tower drum, the tower drum inspection motion control information being used to control the unmanned aerial vehicle inspection device to move to each hovering point in turn according to the preset tower drum inspection route information, so that the unmanned aerial vehicle inspection device collects inspection information of the corresponding hovering point. When the spatial distance satisfies a first relationship, it is determined that the unmanned aerial vehicle inspection device moves to a hovering point, the spatial distance is determined according to real-time acquired ranging information and / or image information of the visual marker, the spatial distance information includes spatial distances of multiple positions measured by the unmanned aerial vehicle inspection device in the tower drum, and the first relationship is: Wherein, lf, lb, ll, lr and lu are respectively the space distances of the front, rear, left, right and upper directions of the unmanned aerial vehicle inspection device measured in the tower drum, and Δd is an error value, and df, db, dl, dr, du and dd are respectively the size information of the unmanned aerial vehicle inspection device center point from the front, rear, left, right, upper and lower edges.

4. The method of claim 1, wherein, If the internal area of the wind turbine to be inspected is a blade cavity, the step of generating the motion control information based on the distance measurement information and / or the image information of the visual markers and the position information of the plurality of hovering points further comprises the following steps: when the unmanned aerial vehicle inspection device needs to enter the blade cavity, acquiring position information and / or an inclination angle of a blade root through hole of the blade, the inclination angle of the blade being calculated from the image information of a target visual marker collected by the unmanned aerial vehicle inspection module, the target visual marker being arranged at an edge position of the cavity of the blade to be inspected; determining a flight route angle of the unmanned aerial vehicle inspection device based on the position information and / or the inclination angle of the blade root through hole of the blade; controlling the unmanned aerial vehicle inspection device to enter the blade cavity to perform inspection based on the flight route angle of the unmanned aerial vehicle inspection device.

5. The method of claim 4, wherein, The route angle based on the flight of the unmanned aerial vehicle inspection device controls the unmanned aerial vehicle inspection device to enter the blade inner cavity for inspection, comprising: When the unmanned aerial vehicle inspection device is monitored to enter the blade inner cavity, the unmanned aerial vehicle inspection device is controlled to perform inspection based on the real-time acquired ranging information and / or image information of the visual marker and the preset blade inner cavity inspection route information. The blade inner cavity includes the leading edge inner cavity and the trailing edge inner cavity.

6. The method of claim 1, wherein, The internal area of the wind turbine to be inspected also includes a wind turbine nacelle or a hub.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: If the power of the unmanned aerial vehicle inspection module is monitored to be lower than the preset power, save the current inspection position information; Control the unmanned aerial vehicle inspection module to return to the unmanned aerial vehicle nacelle module for charging.

8. An unmanned aerial vehicle inspection device, characterized in that, The device comprises: An image acquisition module, a ranging module, an unmanned aerial vehicle module, and a controller; The controller is connected with the image acquisition module, the ranging module, and the unmanned aerial vehicle module respectively, and is used for executing the unmanned aerial vehicle inspection control method according to any one of claims 1 to 7.

9. An unmanned aerial vehicle inspection control device, characterized in that, The controller is applied to an unmanned aerial vehicle inspection device, and the device comprises: A first acquisition module is configured to acquire preset inspection route information of an internal area of a wind turbine to be inspected, wherein the preset inspection route comprises position information of a plurality of hovering points in the internal area of the wind turbine to be inspected, and the preset inspection route information is determined by turbine basic information of the wind turbine to be inspected; A second acquisition module is configured to acquire ranging information and / or image information of a visual marker in real time when the unmanned aerial vehicle inspection device is monitored to enter the internal area of the wind turbine to be inspected. A first control module is configured to generate motion control information based on the ranging information and / or the image information of the visual marker and the position information of the plurality of hovering points, wherein the motion control information is used to control the unmanned aerial vehicle inspection device to move to each hovering point according to the inspection route, so that the unmanned aerial vehicle inspection device collects inspection information of the corresponding hovering point.

10. A computer device, comprising: Comprise: A memory and a processor, which are communicatively connected with each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the unmanned aerial vehicle inspection control method according to any one of claims 1 to 7.

11. A computer readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the unmanned aerial vehicle inspection control method according to any one of claims 1 to 7.

12. A computer program product, characterised in that, The computer instructions are used to make a computer execute the unmanned aerial vehicle inspection control method according to any one of claims 1 to 7.

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