CN105549613B - A kind of automatic detecting method and device based on unmanned plane - Google Patents
A kind of automatic detecting method and device based on unmanned plane Download PDFInfo
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- CN105549613B CN105549613B CN201510921038.7A CN201510921038A CN105549613B CN 105549613 B CN105549613 B CN 105549613B CN 201510921038 A CN201510921038 A CN 201510921038A CN 105549613 B CN105549613 B CN 105549613B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The application provides a kind of automatic detecting method and device based on unmanned plane, asked by the automatic detecting for receiving the road markings for including road to be inspected, and show the navigation file set including at least one navigation file corresponding with road markings pre-set (wherein, each navigation file indicates a uniquely unmanned plane during flying circuit corresponding with road to be inspected), and then respond selection operation of the user to the file that navigates, control unmanned plane is in a manner of the unmanned plane during flying circuit for the navigation file instruction that user selectes flies automatically and returns to the image information shot in flight course, so that by controlling automatic detecting of the unmanned plane to road to be inspected, improve road routing inspection efficiency, reduce the danger during road inspection.
Description
Technical field
The application is related to the anti-preforming technique field of disease, more particularly to a kind of automatic detecting method and dress based on unmanned plane
Put.
Background technology
Road is economic main artery, and road block will have a strong impact on the development of social economy.According to statistics, China has nearly half
Several roads enters " old-age group " phase, various potential safety hazards be present.How to occur in accident preceding to road (especially bridge
Beam, tunnel etc.) disease prevented and eliminated, maintain economic steady growth, ensure the lives and properties peace of traffic participant
It is an important topic of transportation work entirely.
At present, preventing road disease mainly relies on patrol officer real by way of manually carrying out inspection to road whole process
Existing.However, although the mode that inspection is manually carried out to road can realize prevention to road disease, such a mode is also past
It is past the problem of routing inspection efficiency is low, with certain danger to be present.
Therefore it provides a kind of method for inspecting and device based on unmanned plane, are patrolled with improving road routing inspection efficiency, reducing road
Danger during inspection, it is urgent problem to be solved.
The content of the invention
In view of this, the embodiment of the present application provides a kind of automatic detecting method and device based on unmanned plane, passes through control
Unmanned plane improves road routing inspection efficiency, reduces the danger during road inspection to the automatic detecting of road to be inspected.
To achieve these goals, the technical scheme that the embodiment of the present application provides is as follows：
A kind of automatic detecting method based on unmanned plane, including：
Automatic detecting request is received, the automatic detecting request includes the road markings of road to be inspected；
The file set that navigates corresponding with the road markings pre-set is shown, the navigation file set is included at least
One navigation file, each navigation file indicate a uniquely unmanned plane during flying line corresponding with the road to be inspected
Road；
Selection operation of the user to the navigation file is responded, the navigation file that control unmanned plane is selected with the user refers to
The unmanned plane during flying circuit shown flies and returned the image information shot in flight course automatically, to complete to the road to be inspected
The automatic detecting on road.
Preferably, when the navigation file includes multiple data frames, each data frame instruction unmanned plane is led described
During the state of flight of a flight point in unmanned plane during flying circuit corresponding to boat file,
The response user is to the selection operation of the navigation file, the navigation text that control unmanned plane is selected with the user
The process that the unmanned plane during flying circuit of part instruction flies automatically includes：
Selection operation of the user to the navigation file is responded, determines the target navigation file that the user selectes；
The flight point sequence number carried according to the data frame identifies, and obtains each number in the target navigation file
According to the flight order of flight point of the unmanned plane of frame instruction in unmanned plane during flying circuit corresponding to the target navigation file；
According to flight order, control unmanned plane performs each data frame instruction in the target navigation file successively
Flight point state of flight, to realize the automatic flight of the unmanned plane.
Preferably, it is described to perform successively each in the target navigation file according to flight order, control unmanned plane
The state of flight of the flight point of individual data frame instruction, to realize that the process of the automatic flight of the unmanned plane includes：
S1, according to the flight order, read the data frame in the target navigation file；
S2, when often reading a data frame, control the unmanned plane to perform the target data currently read
The state of flight of the target flight point of frame instruction；
When the state of flight that S3, the flight when unmanned plane currently are put is identical with the state of flight of target flight point, return is held
Row step S1.
Preferably, the control unmanned plane performs the target flight point of the target data frame instruction currently read
The process of state of flight includes：
Target location offset information and targeted attitude information, the target location for obtaining the target data frame carrying are inclined
Move in the state of flight of flight point that information indicates the upper data frame the being read into instruction adjacent with the target data frame
Flight point position, with the offset between the target flight point position in the state of flight of the target flight point；
Fly in the target for controlling the unmanned plane to be flown according to the position offset information to target data frame instruction
During the target flight point position of row point, mesh of the posture of the unmanned plane extremely with targeted attitude information instruction is adjusted
It is identical to mark posture.
Preferably, the target of the target flight point indicated when the control unmanned plane during flying to the target data frame
Behind flight point position, this method also includes：
Obtain the target flight point base position information carried in the target data frame；
Judge target flight point base position information instruction target flight point base position whether with the target
Flight point position is identical；
When differing, the target flight point position of the unmanned plane is adjusted according to the target flight point base position.
Preferably, in addition to：
The manual control data of unmanned plane of the user's input received is responded, controls the unmanned plane to stop automatic flight,
And start the manual control function of the unmanned plane, so as to the manual control instruction that receives of unmanned plane response, perform with
Acted corresponding to the manual control instruction.
A kind of automatic inspection device based on unmanned plane, including：
Request reception unit, for receiving automatic detecting request, the automatic detecting request includes the road of road to be inspected
Line；
Display unit, for showing the file set that navigates corresponding with the road markings pre-set, the navigation text
Part, which is concentrated, includes at least one navigation file, and each navigation file instruction one is uniquely corresponding with the road to be inspected
Unmanned plane during flying circuit；
Automatic detecting unit, for responding selection operation of the user to the navigation file, control unmanned plane is with the use
The unmanned plane during flying circuit that the selected navigation file in family indicates flies and returned the image information shot in flight course automatically, with
Complete the automatic detecting to the road to be inspected.
Preferably, when the navigation file includes multiple data frames, each data frame instruction unmanned plane is led described
During the state of flight of a flight point in unmanned plane during flying circuit corresponding to boat file,
The automatic detecting unit includes：
Determining unit, for responding selection operation of the user to the navigation file, determine the target that the user selectes
Navigate file；
Acquiring unit, for the flight point sequence number mark carried according to the data frame, obtain the target navigation file
In each data frame instruction flight of the unmanned plane in unmanned plane during flying circuit corresponding to the target navigation file
The flight order of point；
Automatic detecting subelement, for according to flight order, control unmanned plane to perform the target navigation text successively
The state of flight of the flight point of each data frame instruction in part, to realize the automatic flight of the unmanned plane.
Preferably, the automatic detecting subelement includes：
Data frame reading unit, for perform S1, according to the flight order, read the number in the target navigation file
According to frame；
State of flight control unit, for performing S2, when often reading a data frame, control the unmanned plane
Perform the state of flight of the target flight point of the target data frame instruction currently read；
Flight point judging unit, for performing S3, state of flight and target flight point when the current flight point of unmanned plane
State of flight it is identical when, return and perform step S1.
Preferably, in addition to manually operated response unit, the manually operated response unit, for responding the use received
The manual control data of unmanned plane of family input, control the unmanned plane to stop automatic flight, and start the manual of the unmanned plane
Control function, so as to the manual control instruction that unmanned plane response receives, perform corresponding with the manual control instruction
Action.
The application provides a kind of automatic detecting method and device based on unmanned plane, includes road to be inspected by receiving
The automatic detecting request of road markings, and show pre-set it is with road markings corresponding including at least one file that navigates
Navigate file set (wherein, each navigation file indicates a uniquely unmanned plane during flying circuit corresponding with road to be inspected),
And then selection operation of the user to the file that navigates is responded, the unmanned plane for the navigation file instruction that control unmanned plane is selected with user flies
Row line is flown and returns to the mode of the image information shot in flight course automatically so that by controlling unmanned plane to be inspected
The automatic detecting of road, road routing inspection efficiency is improved, reduce the danger during road inspection.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in application, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of automatic detecting method flow diagram based on unmanned plane that the embodiment of the present application one provides；
Fig. 2 is a kind of selection operation of response user to navigation file of the offer of the embodiment of the present application one, controls unmanned plane
The method flow diagram that the unmanned plane during flying circuit for the navigation file instruction selected with user flies automatically；
Fig. 3 is a kind of foundation flight order that the embodiment of the present application one provides, and performance objective navigates control unmanned plane successively
The state of flight of the flight point of each data frame instruction in file, to realize the method flow diagram of the automatic flight of unmanned plane；
Fig. 4 is that a kind of control unmanned plane that the embodiment of the present application one provides performs the target data frame instruction currently read
Target flight point state of flight method flow diagram；
Fig. 5 is a kind of structural representation for automatic inspection device based on unmanned plane that the embodiment of the present application two provides；
Fig. 6 is a kind of detailed construction schematic diagram for automatic detecting unit that the embodiment of the present application two provides.
Embodiment
In order that those skilled in the art more fully understand the technical scheme in the application, it is real below in conjunction with the application
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present application is clearly and completely described, it is clear that described implementation
Example only some embodiments of the present application, rather than whole embodiments.It is common based on the embodiment in the application, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, it should all belong to the application protection
Scope.
Embodiment one：
Fig. 1 is a kind of automatic detecting method flow diagram based on unmanned plane that the embodiment of the present application one provides.
As shown in figure 1, this method includes：
S101, automatic detecting request is received, automatic detecting asks the road markings for including road to be inspected；
In the embodiment of the present application, it is preferred that by way of carrying out inspection to road to be inspected, it is possible to find road to be inspected
Disease in road, and prevention/elimination accordingly is carried out, and then ensure the security of road to be inspected.
Specifically, when user needs to carry out automatic detecting to road to be inspected, please firstly, it is necessary to send automatic detecting
Ask, in a kind of automatic detecting method based on unmanned plane that the embodiment of the present application provides, automatic detecting request, Jin Ergen can be received
Corresponding automatic detecting operation is performed according to automatic detecting request.
In the embodiment of the present application, it is preferred that every road to be inspected has the corresponding road markings of only one.
Specifically, when needing to carry out automatic detecting to road A, the automatic detecting request received includes and road A
Corresponding unique road markings.
The file set that navigates corresponding with road markings that S102, displaying are pre-set, navigation file set include at least one
Individual navigation file, each file that navigates indicate a uniquely unmanned plane during flying circuit corresponding with road to be inspected；
In the embodiment of the present application, it is preferred that pre-set the file set that navigates corresponding with each road to be inspected respectively.
For example, when road A and road B can be used as road to be inspected, road A can be directed to, pre-sets corresponding navigation text
Part collection A；For road B, corresponding navigation file set B is pre-set.
In the embodiment of the present application, it is preferred that navigation file set includes at least one navigation file, and each navigate file
Indicate a uniquely unmanned plane during flying circuit corresponding with road to be inspected.
Specifically, a plurality of unmanned plane during flying circuit corresponding with every road to be inspected respectively is pre-set, wherein, for
For every unmanned plane during flying circuit of this road to be inspected, every unmanned plane during flying circuit is by a navigation file
Mode store.
For the ease of the understanding pair a plurality of unmanned plane during flying circuit corresponding with road to be inspected, now illustrate：For
Road A to be inspected, if road A is bridge, a unmanned plane during flying circuit being arranged on bridge, and under bridge
One unmanned plane during flying circuit.The example for understanding and enumerating is intended merely to facilitate above, and still, those skilled in the art should
This is clear that the example of a plurality of unmanned plane during flying circuit corresponding with road to be inspected is not limited to this.
Specifically, after automatic detecting request is received, automatic detecting request can be responded, is determined in automatic detecting request
Including road to be inspected road markings, and then according to the road markings of road to be inspected determine it is corresponding with road to be inspected
Navigate file set, and shows the navigation file set of determination.
In the embodiment of the present application, it is preferred that the mode of displaying navigation file set is by each leading in the file set that navigates
Boat file is shown by way of list, and during displaying, it is brief to mark its function for each navigation file, so as to this
Art personnel understand the unmanned plane during flying circuit that each navigation file specifically indicates, and then are easy to be selected according to the demand of oneself
Select corresponding navigation document control unmanned plane and carry out automatic detecting.
It is only the preferred embodiment of the embodiment of the present application above, inventor can arbitrarily set navigation text according to the demand of oneself
The exhibition method of part collection, is not limited herein.
S103, response user are to the selection operation for the file that navigates, the navigation file instruction that control unmanned plane is selected with user
Unmanned plane during flying circuit fly and return automatically the image information shot in flight course, with complete to road to be inspected from
Dynamic inspection.
In the embodiment of the present application, it is preferred that when user is from the navigation file set of displaying, have selected and its inspection purpose
After corresponding navigation file, a kind of automatic detecting method response user based on unmanned plane that the application provides is to navigation file
Selection operation, and the unmanned plane during flying circuit that the navigation file for controlling unmanned plane to be selected with user indicates flies and returned winged automatically
The image information shot during row, to complete the automatic detecting to road to be inspected.
In order to which a kind of more explicit automatic detecting method based on unmanned plane provided the embodiment of the present application is entered
Row illustrates, provides a kind of navigation text for responding selection operation of the user to the file that navigates, controlling unmanned plane to be selected with user herein
The method flow diagram that the unmanned plane during flying circuit of part instruction flies automatically, refers to Fig. 2.
As shown in Fig. 2 this method includes：
S201, response user determine the target navigation file that user selectes to the selection operation for the file that navigates；
In the embodiment of the present application, it is preferred that response user determines the mesh that user selectes to the selection operation for the file that navigates
Mark navigation file, goal navigation file is only a kind of address for the navigation file selected to user, specifically, target
The navigation file that navigation file is selected with the user determined is identical file.
S202, the flight point sequence number carried according to data frame identify, and each data frame obtained in target navigation file refers to
The flight order of flight point of the unmanned plane shown in unmanned plane during flying circuit corresponding to target navigation file；
In the embodiment of the present application, it is preferred that navigation file includes multiple data frames, and each data frame instruction unmanned plane exists
The state of flight of a flight point in unmanned plane during flying circuit corresponding to navigation file.
Specifically, navigation file indicates the flight line of a unmanned plane, and the file that navigates includes multiple data frames,
Each data frame corresponds to the state of flight of a flight point in the flight line of this navigation file instruction, and then by each data
The flight point of frame instruction may make up the flight line of navigation file instruction, and may make up navigation by the state of flight of each flight point
The unmanned plane of file instruction state of flight in whole flight course.
In the embodiment of the present application, it is preferred that the flight point sequence number mark that data frame carries.The flight point that data frame carries
Sequence number mark instruction it is corresponding with the data frame flight point be navigation file indicate flight line in which flight point, enter
And the flight point sequence number carried according to data frame identifies, the unmanned plane of each data frame instruction in target navigation file can be obtained
The flight order of flight point in unmanned plane during flying circuit corresponding to target navigation file.
S203, according to flight order, each data frame instruction in performance objective navigation file successively of control unmanned plane
The state of flight of flight point, to realize the automatic flight of unmanned plane.
In the embodiment of the present application, it is preferred that when get each data frame in target navigation file instruction nobody
After the flight order of flight point of the machine in unmanned plane during flying circuit corresponding to target navigation file, it can be controlled according to flight order
Unmanned plane processed successively performance objective navigation file in each data frame instruction flight point state of flight, to realize unmanned plane
Automatic flight.
In order to which a kind of more explicit automatic detecting method based on unmanned plane provided the embodiment of the present application is entered
Row illustrates, provides a kind of according to flight order, control unmanned plane each data frame in performance objective navigation file successively herein
The state of flight of the flight point of instruction, to realize the method flow diagram of the automatic flight of unmanned plane, refers to Fig. 3.
As shown in figure 3, this method includes：
S301, foundation flight order, read the data frame in target navigation file；
In the embodiment of the present application, it is preferred that response user to navigate file selection operation, control unmanned plane with
During the unmanned plane during flying circuit of the selected navigation file instruction in family flies automatically, when choosing of the response user to the file that navigates
Operation is selected, determines the target navigation file that user selectes, and the flight point sequence number carried according to data frame identifies, and gets target
Flight of the unmanned plane of each data frame instruction in navigation file in unmanned plane during flying circuit corresponding to target navigation file
After the flight order of point, need, according to flight order, to read the data frame in target navigation file.
S302, when often reading a data frame, control unmanned plane perform currently read target data frame instruction
Target flight point state of flight；
In the embodiment of the present application, it is preferred that the mistake of the data frame in foundation flight order, reading target navigation file
Cheng Zhong, when reading a data frame, using the data frame currently read as target data frame, and unmanned plane is controlled to perform
The state of flight of the target flight point of the target data frame instruction currently read.
When the state of flight that S303, the flight when unmanned plane currently are put is identical with the state of flight of target flight point, return
Perform step S301.
In the embodiment of the present application, it is preferred that control unmanned plane goes to what the target data frame currently read indicated
The process of the state of flight of target flight point is needed to complete by the time is performed, and current reading is gone in control unmanned plane
During the state of flight of the target flight point for the target data frame instruction got, take and judge the current flight of unmanned plane at quarter
Whether the state of flight of point is identical with the state of flight of target flight point；Until judging to obtain flying for the current flight point of unmanned plane
Row state is identical with the state of flight of target flight point, then illustrates unmanned plane executed this moment to the target data currently read
The state of flight of the target flight point of frame instruction, also, when the state of flight and target flight point of the current flight point of unmanned plane
State of flight it is identical when, return and perform step S301, according to flight order, to read adjacent with above-mentioned target data frame
Next data frame.
In order to which a kind of more explicit automatic detecting method based on unmanned plane provided the embodiment of the present application is entered
Row illustrates, provides a kind of flight for the target flight point for controlling unmanned plane to perform the target data frame instruction currently read herein
The method flow diagram of state, refers to Fig. 4.
As shown in figure 4, this method includes：
S401, obtain target location offset information and targeted attitude information that target data frame carries；
In the embodiment of the present application, it is preferred that target location offset information indicates：Adjacent with target data frame is read
To the instruction of a upper data frame flight point state of flight in flight point position, and in the state of flight of target flight point
Offset between target flight point position.
In the embodiment of the present application, it is preferred that targeted attitude information indicates：Target flight point corresponding to target data flies
The attitude information of the unmanned plane of target flight point position in row state.
S402, the target flight point indicated in control unmanned plane according to the flight of position offset information to target data frame mesh
During mark flight point position, the posture for adjusting unmanned plane is identical to the targeted attitude indicated with targeted attitude information.
In the embodiment of the present application, it is preferred that target data frame is arrived according to the flight of position offset information in control unmanned plane
During the target flight point position of the target flight point of instruction, the posture for adjusting unmanned plane indicates to targeted attitude information
The mode of targeted attitude can be understood as：Unmanned plane to target flight point position while fly, while being adjusted towards targeted attitude
The whole posture of itself, and then realize when unmanned plane during flying is to target flight point position, its posture is just adjusted to target appearance
State.
Further, in a kind of automatic detecting method based on unmanned plane that the embodiment of the present application provides, when control nothing
Behind the target flight point position for the target flight point that man-machine flight indicates to target data frame, this method also includes procedure below：
The target flight point base position information carried in target data frame is obtained, and, judge target flight point basis
Whether the target flight point base position of positional information instruction is identical with target flight point position；And when differing, according to
Target flight point base position adjusts the target flight point position of unmanned plane.
For the ease of the understanding of the process to above-mentioned adjustment target flight point position, here, first to unmanned plane during flying line
The storing process on road illustrates.
In the embodiment of the present application, it is preferred that can be realized by way of manual control unmanned plane is flown for every
The storage of every unmanned plane during flying circuit of individual road to be stored, its a plurality of unmanned plane during flying line is now introduced by taking a road as an example
The storing process on road.
The process is specially：IMU, GPS, electronic compass, laser radar and height barometer etc. are installed on unmanned plane
Device.Because a unmanned plane during flying line is difficult the whole road area of covering, therefore, for the road record its it is a plurality of nobody
Machine flight line.
Specifically, can be operated by operating personnel, unmanned plane practical flight is multiple, and is utilized in each flight course
Device record-setting flight information on unmanned plane, and then the flight line of every reality of the unmanned plane controlled for operating personnel,
Unmanned plane during being flown by related personnel's analysis operation personnel control unmanned plane according to the flight line of this reality
On the data that collect of each device, and if the flight line of this reality be separated into done, from the multiple points being separated into
In, determine several target points (whole target points be institute that actual flight line is separated into a little or partial dot), its
In, into a navigation file, each target point correspondingly navigates a data frame in file for the flight line storage of every reality,
And by the data Cun Chudao data frames of the target point collected accordingly by device on unmanned plane, realize to being controlled by operating personnel
The storage of the actual flight line of the unmanned plane of system, for the practical flight circuit of every unmanned plane by operating personnel's control
One navigation file of generation, so as to each navigation file that later use prestores, control unmanned plane carries out corresponding automatic
Flight.
In the embodiment of the present application, it is preferred that flown in each flight course using the device record on unmanned plane
Row information, including：The position and the position of upper one flight point of each flight point passed through during unmanned plane during flying are recorded using IMU
By the pitching angle information in attitude information during each flight point, roll angle letter during the offset put, unmanned plane during flying
Breath etc.；The world coordinates of each flight point passed through during unmanned plane during flying is recorded by GPS；Recorded by height barometer
The atmospheric pressure value of each flight point passed through during unmanned plane during flying, so as to the atmospheric pressure value for each flight point, it is calculated
The height value of flight point；Pass through the posture letter during electronic compass record unmanned plane during flying by unmanned plane during each flight point
Head orientation information in breath etc.；Hinder accordingly using when passing through each flight point during laser radar record unmanned plane during flying
Hinder information etc..
It is only the preferred embodiment of the embodiment of the present application above, inventor can be according to any setting of demand of oneself by operating
The device that personnel are set on unmanned plane in advance, and the unmanned plane that specifically gathers of the device being set in advance on unmanned plane fly
Row information, do not limit herein.
It is only the preferred embodiment of the embodiment of the present application above, inventor can arbitrarily set according to the demand of oneself and be directed to one
The storage mode of a plurality of unmanned plane during flying circuit of bar road, a most suitable flight line such as is determined by operating personnel, and in profit
After carrying out flight and the record corresponding information of reality with this most suitable flight line control unmanned plane, in the base of most suitable flight line
Horizontal direction is carried out on plinth and the translational motion of vertical direction obtains a plurality of flight line etc., is not limited herein.
In the embodiment of the present application, it is preferred that each data frame in navigation file carries：When data frame is as target
During data frame, target flight point base position information corresponding with the target flight dot position information of the target data frame, so as to
The target flight point base position indicated using the target flight point base position information in the target data frame, adjust unmanned plane
The target flight point position that target flight dot position information in target data frame flies.
In the embodiment of the present application, it is preferred that the target flight point position letter in the target data frame mentioned in the application
The target flight point position of unmanned plane corresponding to breath, is by the mesh in the target flight dot position information in the target data frame
The offset of the position of cursor position offset information instruction moves what is obtained, wherein, the target location in target data frame is inclined
Moving information is recorded by the IMU devices on unmanned plane, and it is to control unmanned plane during flying in operating personnel to store navigation letter
During breath, the corresponding unmanned plane of being recorded as the IMU of a unmanned plane, upper data frame adjacent with target data frame, being read into
Actual flight line in flight point position, and as unmanned plane IMU record target data frame corresponding to unmanned plane
Actual flight line in target flight point position between offset.
In the embodiment of the present application, it is preferred that the target flight point base position information instruction that target data frame carries
Target flight point base position is：When controlling unmanned plane during flying by operating personnel to store navigation information, surveyed by the GPS of unmanned plane
The world coordinates of target flight point in the actual flight line of the unmanned plane corresponding with the target data frame measured.
Specifically, when the target location offset information control unmanned plane carried by target data frame is moved to target flight
After point, it need to judge that current unmanned plane is in the world coordinates corresponding to target flight point, if with storing in target data frame
With the target data frame corresponding to unmanned plane practical flight circuit in target flight point identical (wherein, the mesh of world coordinates
The world of target flight point in the practical flight circuit of the unmanned plane corresponding with the target data frame stored in mark data frame
Coordinate is the target flight point base position of the target flight point base position information instruction stored in feeling the pulse with the finger-tip mark data frame)；
When differing, unmanned plane during flying is controlled, to realize the current world coordinates of unmanned plane with being stored in target data frame and this
The world coordinates of target flight point in the actual flight line of unmanned plane corresponding to target data frame is identical.
It is only the preferred embodiment of the embodiment of the present application above, inventor arbitrarily can set target to fly according to the demand of oneself
The particular content of the target flight point base position of row point base position information instruction, can such as install target flight point base bits
It is set to the actual flight for the unmanned plane corresponding with target data frame that the atmospheric pressure value obtained using barometric surveying is calculated
Height value of point etc., is not limited herein.
It is only the preferred embodiment of the embodiment of the present application above, inventor can be arbitrarily set according to mesh according to the demand of oneself
The mode of the target flight point position of mark flight point base position adjustment unmanned plane, is not limited herein.
A kind of automatic detecting method based on unmanned plane that the application provides, by control unmanned plane during flying to number of targets
Behind target flight point position according to the target flight point of frame instruction, the target flight point base bits confidence in target data frame
The target flight point base position of instruction is ceased, the position for the target flight point that adjustment aircraft is currently moved to, nothing can be effectively reduced
The man-machine flight error during air objective is realized by position offset information.
Further, in a kind of automatic detecting method based on unmanned plane that the embodiment of the present application provides, in addition to
Lower process：
The manual control data of unmanned plane of the user's input received is responded, control unmanned plane stops automatic flight, and opens
The manual control function of dynamic unmanned plane, so as to the manual control instruction that unmanned plane response receives, perform and manual control instruction
Corresponding action.
In the embodiment of the present application, it is preferred that when user sees that unmanned plane carries out the image information of inspection return to road
After the situation for occurring disease or doubtful disease in corresponding picture, the manual control data of unmanned plane can be inputted, passes through the unmanned plane
Manual control data can control unmanned plane to stop automatic flight, while can also start the manual control function function of unmanned plane, with
Just when subsequent user sends manual control instruction to unmanned plane, the manual control that unmanned plane can respond the user's input received refers to
Order, and perform act corresponding with the manual control instruction.
It is only the preferred embodiment of the embodiment of the present application above, user can arbitrarily set unmanned plane hand according to the demand of oneself
The transmission time of dynamic control data, do not limit herein.
Identical, when the manual control data of unmanned plane of user's input, to control unmanned plane to realize manually operated unmanned plane
After checking the purpose of road, the manual control data of the releasable unmanned plane is gone back, to realize that the continuation of unmanned plane is flown automatically, specifically
, after detecting that user discharges unmanned plane manual control data, controllable unmanned plane returns to the unmanned plane and is receiving unmanned plane
Flight position during manual control data, so that unmanned plane continues to fly on the basis of the position that it is returned.
It is only the preferred embodiment of the embodiment of the present application above, inventor can arbitrarily be set according to the demand of oneself work as user
The automatic flying method of unmanned plane, is not limited herein after the release manual control data of unmanned plane.
The application provides a kind of automatic detecting method based on unmanned plane, and the road road sign of road to be inspected is included by receiving
The automatic detecting request of knowledge, and show the navigation text for including at least one navigation file corresponding with road markings pre-set
Part collection (wherein, each navigation file indicates a uniquely unmanned plane during flying circuit corresponding with road to be inspected), and then ring
Selection operation using family to the file that navigates, the unmanned plane during flying circuit for the navigation file instruction that control unmanned plane is selected with user
It is automatic to fly and return to the mode of the image information shot in flight course so that by controlling unmanned plane to road to be inspected
Automatic detecting, road routing inspection efficiency is improved, reduce the danger during road inspection.
Embodiment two：
Fig. 5 is a kind of structural representation for automatic inspection device based on unmanned plane that the embodiment of the present application two provides.
As shown in figure 5, the device includes：
Request reception unit 51, for receiving automatic detecting request, automatic detecting asks the road for including road to be inspected
Mark；
Display unit 52, for showing the file set that navigates corresponding with road markings pre-set, in the file set that navigates
Including at least one navigation file, each file that navigates indicates a uniquely unmanned plane during flying line corresponding with road to be inspected
Road；
Automatic detecting unit 53, for responding selection operation of the user to the file that navigates, control unmanned plane is selected with user
The unmanned plane during flying circuit of navigation file instruction fly and return automatically the image information shot in flight course, to complete pair
The automatic detecting of road to be inspected.
In the embodiment of the present application, it is preferred that when navigation file includes multiple data frames, each data frame indicates unmanned plane
During the state of flight of a flight point in the unmanned plane during flying circuit corresponding to file that navigates, automatic detecting unit detailed construction
Schematic diagram is as shown in Figure 6.
It can be seen from Fig. 6, automatic detecting unit includes：
Determining unit 61, for responding selection operation of the user to the file that navigates, determine the target navigation text that user selectes
Part；
Acquiring unit 62, for the flight point sequence number mark carried according to data frame, obtain each in target navigation file
The flight order of flight point of the unmanned plane of individual data frame instruction in unmanned plane during flying circuit corresponding to target navigation file；
Automatic detecting subelement 63, for according to flight order, control unmanned plane to be successively in performance objective navigation file
The state of flight of the flight point of each data frame instruction, to realize the automatic flight of unmanned plane.
In the embodiment of the present application, it is preferred that automatic detecting subelement includes：
Data frame reading unit, for performing S301, foundation flight order, read the data frame in target navigation file；
State of flight control unit, for performing S302, when often reading a data frame, control unmanned plane, which performs, works as
Before read target data frame instruction target flight point state of flight；
Flight point judging unit, for performing S303, state of flight and target flight when the current flight point of unmanned plane
When the state of flight of point is identical, returns and perform step S301.
In the embodiment of the present application, it is preferred that state of flight control unit control unmanned plane performs the mesh currently read
The process of the state of flight of the target flight point of mark data frame instruction includes：
The target location offset information and targeted attitude information, target location offset information for obtaining the carrying of target data frame refer to
Show the flight point position in the state of flight of the flight point of the upper data frame the being read into instruction adjacent with target data frame,
With the offset between the target flight point position in the state of flight of target flight point；And in control unmanned plane according to position
During the target flight point position for putting the target flight point that offset information flight indicates to target data frame, unmanned plane is adjusted
Posture to targeted attitude information instruction targeted attitude it is identical.
Further, in a kind of automatic inspection device based on unmanned plane that the embodiment of the present application provides, in addition to：Adjust
Whole unit, adjustment unit are used for the target flight point position of the target flight point indicated when control unmanned plane during flying to target data frame
Postpone, obtain the target flight point base position information carried in target data frame；And judge target flight point base position
Whether the target flight point base position of information instruction is identical with target flight point position；And when differing, according to target
The target flight point position of flight point base position adjustment unmanned plane.
Further, in a kind of automatic inspection device based on unmanned plane that the embodiment of the present application provides, in addition to hand
Dynamic operation response unit, manually operated response unit, for responding the manual control data of unmanned plane of the user received input,
Control unmanned plane to stop automatic flight, and start the manual control function of unmanned plane, so as to unmanned plane response receive it is manual
Control instruction, perform action corresponding with manual control instruction.
The application provides a kind of automatic inspection device based on unmanned plane, and the road road sign of road to be inspected is included by receiving
The automatic detecting request of knowledge, and show the navigation text for including at least one navigation file corresponding with road markings pre-set
Part collection (wherein, each navigation file indicates a uniquely unmanned plane during flying circuit corresponding with road to be inspected), and then ring
Selection operation using family to the file that navigates, the unmanned plane during flying circuit for the navigation file instruction that control unmanned plane is selected with user
It is automatic to fly and return to the mode of the image information shot in flight course so that by controlling unmanned plane to road to be inspected
Automatic detecting, road routing inspection efficiency is improved, reduce the danger during road inspection.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
For, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part
It is bright.
It the above is only the preferred embodiment of the application, make skilled artisans appreciate that or realizing the application.It is right
A variety of modifications of these embodiments will be apparent to one skilled in the art, as defined herein general former
Reason can be realized in other embodiments in the case where not departing from spirit herein or scope.Therefore, the application will not
Be intended to be limited to the embodiments shown herein, and be to fit to it is consistent with principles disclosed herein and features of novelty most
Wide scope.
Claims (8)
- A kind of 1. automatic detecting method based on unmanned plane, it is characterised in that including：Automatic detecting request is received, the automatic detecting request includes the road markings of road to be inspected；The file set that navigates corresponding with the road markings pre-set is shown, the navigation file set includes at least one Navigate file, and each navigation file indicates a uniquely unmanned plane during flying circuit corresponding with the road to be inspected；Selection operation of the user to the navigation file is responded, the navigation file instruction that control unmanned plane is selected with the user Unmanned plane during flying circuit flies and returned the image information shot in flight course automatically, to complete to the road to be inspected Automatic detecting；Wherein, when the navigation file includes multiple data frames, each data frame indicates unmanned plane in the navigation file During the state of flight of a flight point in corresponding unmanned plane during flying circuit, choosing of the response user to the navigation file Select operation, the process bag that the unmanned plane during flying circuit that the navigation file that control unmanned plane is selected with the user indicates flies automatically Include：Selection operation of the user to the navigation file is responded, determines the target navigation file that the user selectes；The flight point sequence number carried according to the data frame identifies, and obtains each data frame in the target navigation file The flight order of flight point of the unmanned plane of instruction in unmanned plane during flying circuit corresponding to the target navigation file；According to flight order, control unmanned plane performs flying for each data frame instruction in the target navigation file successively The state of flight of row point, to realize the automatic flight of the unmanned plane.
- 2. according to the method for claim 1, it is characterised in that described according to flight order, control unmanned plane is successively Perform in the target navigation file each data frame instruction flight point state of flight, with realize the unmanned plane from The process of dynamic flight includes：S1, according to the flight order, read the data frame in the target navigation file；S2, when often reading a data frame, control the unmanned plane to perform the target data frame currently read and refer to The state of flight of the target flight point shown；When the state of flight that S3, the flight when unmanned plane currently are put is identical with the state of flight of target flight point, return performs step Rapid S1.
- 3. according to the method for claim 2, it is characterised in that the control unmanned plane performs the mesh currently read The process of the state of flight of the target flight point of mark data frame instruction includes：Obtain target location offset information and the targeted attitude information that the target data frame carries, the target location skew letter Breath indicates to fly in the state of flight of the flight point of the upper data frame the being read into instruction adjacent with the target data frame The offset between target flight point position in row point position, with the state of flight of the target flight point；In the target flight point for controlling the unmanned plane to be indicated according to position offset information flight to the target data frame Target flight point position during, adjust the posture of the unmanned plane to the target appearance with targeted attitude information instruction State is identical.
- 4. according to the method for claim 3, it is characterised in that when the control unmanned plane during flying to the number of targets Behind target flight point position according to the target flight point of frame instruction, this method also includes：Obtain the target flight point base position information carried in the target data frame；Judge target flight point base position information instruction target flight point base position whether with the target flight Point position is identical；When differing, the target flight point position of the unmanned plane is adjusted according to the target flight point base position.
- 5. according to the method described in claim 1-4 any one, it is characterised in that also include：The manual control data of unmanned plane of the user's input received is responded, controls the unmanned plane to stop automatic flight, and open Move the manual control function of the unmanned plane, so as to the manual control instruction that receives of unmanned plane response, perform with it is described Acted corresponding to manual control instruction.
- A kind of 6. automatic inspection device based on unmanned plane, it is characterised in that including：Request reception unit, for receiving automatic detecting request, the automatic detecting request includes the road road sign of road to be inspected Know；Display unit, for showing the file set that navigates corresponding with the road markings pre-set, the navigation file set Include at least one navigation file, each navigation file indicates a uniquely nothing corresponding with the road to be inspected Man-machine flight line；Automatic detecting unit, for responding selection operation of the user to the navigation file, control unmanned plane is selected with the user The unmanned plane during flying circuit of fixed navigation file instruction flies and returned the image information shot in flight course automatically, to complete To the automatic detecting of the road to be inspected；Wherein, when the navigation file includes multiple data frames, each data frame indicates unmanned plane in the navigation file During the state of flight of a flight point in corresponding unmanned plane during flying circuit, the automatic detecting unit includes：Determining unit, for responding selection operation of the user to the navigation file, determine the target navigation that the user selectes File；Acquiring unit, for the flight point sequence number mark carried according to the data frame, obtain in the target navigation file Flight point of the unmanned plane of each data frame instruction in unmanned plane during flying circuit corresponding to the target navigation file Flight order；Automatic detecting subelement, for being performed successively in the target navigation file according to flight order, control unmanned plane Each data frame instruction flight point state of flight, to realize the automatic flight of the unmanned plane.
- 7. device according to claim 6, it is characterised in that the automatic detecting subelement includes：Data frame reading unit, for perform S1, according to the flight order, read the data in the target navigation file Frame；State of flight control unit, for performing S2, when often reading a data frame, the unmanned plane is controlled to perform The state of flight of the target flight point of the target data frame instruction currently read；Flight point judging unit, for performing S3, when the current state of flight of flight point of unmanned plane and flying for target flight point When row state is identical, returns and perform step S1.
- 8. according to the device described in claim 6-7 any one, it is characterised in that also including manually operated response unit, institute State manually operated response unit, for respond receive user input the manual control data of unmanned plane, control it is described nobody Machine stops automatic flight, and starts the manual control function of the unmanned plane, so as to unmanned plane response receive it is manual Control instruction, perform act corresponding with the manual control instruction.
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