CN111026156A - Inspection system, method, control device, equipment and storage medium - Google Patents

Inspection system, method, control device, equipment and storage medium Download PDF

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Publication number
CN111026156A
CN111026156A CN201911303904.0A CN201911303904A CN111026156A CN 111026156 A CN111026156 A CN 111026156A CN 201911303904 A CN201911303904 A CN 201911303904A CN 111026156 A CN111026156 A CN 111026156A
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CN
China
Prior art keywords
unmanned aerial
aerial vehicle
airport
control device
preset
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Pending
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CN201911303904.0A
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Chinese (zh)
Inventor
郄新越
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Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Qianshi Technology Co Ltd
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Application filed by Beijing Jingdong Qianshi Technology Co Ltd filed Critical Beijing Jingdong Qianshi Technology Co Ltd
Priority to CN201911303904.0A priority Critical patent/CN111026156A/en
Publication of CN111026156A publication Critical patent/CN111026156A/en
Priority to US17/772,063 priority patent/US20220396373A1/en
Priority to KR1020227018097A priority patent/KR20220090563A/en
Priority to JP2022525066A priority patent/JP2023501187A/en
Priority to EP20881433.5A priority patent/EP4053021A4/en
Priority to PCT/CN2020/116198 priority patent/WO2021082794A1/en
Pending legal-status Critical Current

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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
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the invention discloses a system, a method, a control device, equipment and a storage medium for routing inspection, wherein the system can comprise: the system comprises an airport monitoring device, an airport control device and an unmanned aerial vehicle control device; wherein the airport control apparatus is configured to: when an unmanned aerial vehicle starting instruction sent by an airport monitoring device is received, whether the unmanned aerial vehicle meets a preset inspection condition is detected, and when the unmanned aerial vehicle meets the preset inspection condition is detected, an inspection request message is sent to the airport monitoring device; when an inspection instruction sent by an airport monitoring device based on an inspection request message is received, an unmanned aerial vehicle control device is triggered to detect whether an unmanned aerial vehicle meets a preset takeoff condition; the unmanned aerial vehicle controlling means is used for: when the condition that the preset takeoff condition is met is detected, the takeoff request message is sent to the airport control device, and when a takeoff instruction sent by the airport control device based on the takeoff request message is received, the unmanned aerial vehicle is controlled to take off and is patrolled and examined based on the preset patrol and examine route, so that the automatic patrol and examine of the unmanned aerial vehicle is realized.

Description

Inspection system, method, control device, equipment and storage medium
Technical Field
The embodiment of the invention relates to an automatic control technology, in particular to a patrol system, a patrol method, a patrol control device, a patrol equipment and a storage medium.
Background
With the rapid development of computer technology, unmanned aerial vehicles are widely applied to various fields as inspection equipment, such as disaster rescue, environmental protection detection, street view shooting, power inspection, agricultural plant protection and the like.
Among the prior art, at unmanned aerial vehicle's the in-process of patrolling and examining, often need the user to pass through wireless remote control equipment, manual control unmanned aerial vehicle patrols and examines.
However, in the process of implementing the present invention, the inventor finds that at least the following problems exist in the prior art:
need professional operating personnel to control unmanned aerial vehicle among the current mode of patrolling and examining for the cost of labor is higher, and manual operation also can exist because of the condition that the maloperation leads to unmanned aerial vehicle crash moreover.
Disclosure of Invention
The embodiment of the invention provides an inspection system, an inspection method, a control device, equipment and a storage medium, so that automatic inspection of an unmanned aerial vehicle is realized, manual control is not needed, the labor cost can be saved, and the safety can be improved.
In a first aspect, an embodiment of the present invention provides an inspection system, where the inspection system includes: the system comprises an airport monitoring device, an airport control device and an unmanned aerial vehicle control device;
wherein the airport control apparatus is configured to: when receiving an unmanned aerial vehicle starting instruction sent by the airport monitoring device, detecting whether the unmanned aerial vehicle meets a preset inspection condition, and sending an inspection request message to the airport monitoring device when detecting that the unmanned aerial vehicle meets the preset inspection condition; when an inspection instruction sent by the airport monitoring device based on the inspection request message is received, the unmanned aerial vehicle control device is triggered to detect whether the unmanned aerial vehicle meets a preset takeoff condition;
the unmanned aerial vehicle controlling means is used for: when the unmanned aerial vehicle is detected to meet the preset takeoff condition, sending a takeoff request message to the airport control device, and when a takeoff instruction sent by the airport control device based on the takeoff request message is received, controlling the unmanned aerial vehicle to take off and carrying out inspection based on a preset inspection route.
In a second aspect, an embodiment of the present invention further provides a polling method, applied to an airport control device, including:
when an unmanned aerial vehicle starting instruction sent by an airport monitoring device is received, whether the unmanned aerial vehicle meets a preset routing inspection condition is detected;
when the unmanned aerial vehicle is detected to meet a preset inspection condition, transmitting an inspection request message to the airport monitoring device;
when an inspection instruction sent by the airport monitoring device based on the inspection request message is received, triggering an unmanned aerial vehicle control device to detect whether the unmanned aerial vehicle meets a preset take-off condition, so that the unmanned aerial vehicle control device sends a take-off request message to the airport control device when detecting that the unmanned aerial vehicle meets the preset take-off condition;
when the takeoff request message is received, whether an unmanned aerial vehicle airport meets a preset quasi-flying condition is detected, and when the unmanned aerial vehicle airport meets the preset quasi-flying condition is detected, a takeoff instruction is sent to the unmanned aerial vehicle control device, so that the unmanned aerial vehicle control device controls the unmanned aerial vehicle to take off and patrol based on a preset patrol route.
In a third aspect, an embodiment of the present invention further provides a polling method, applied to an unmanned aerial vehicle control device, including:
when the trigger operation of the airport control device is detected, whether the unmanned aerial vehicle meets a preset takeoff condition is detected;
when the unmanned aerial vehicle is detected to meet a preset take-off condition, sending a take-off request message to the airport control device;
and when a take-off instruction sent by the airport control device based on the take-off request message is received, the unmanned aerial vehicle is controlled to take off and is patrolled based on a preset patrol route.
In a fourth aspect, an embodiment of the present invention further provides an airport control apparatus, including:
the first detection module is used for detecting whether the unmanned aerial vehicle meets a preset inspection condition or not when receiving an unmanned aerial vehicle starting instruction sent by the airport monitoring device;
the inspection request message sending module is used for sending an inspection request message to the airport monitoring device when the unmanned aerial vehicle is detected to meet the preset inspection condition;
the trigger module is used for triggering the unmanned aerial vehicle control device to detect whether the unmanned aerial vehicle meets a preset take-off condition or not when receiving a routing inspection instruction sent by the airport monitoring device based on the routing inspection request message, so that the unmanned aerial vehicle control device sends a take-off request message to the airport control device when detecting that the unmanned aerial vehicle meets the preset take-off condition;
and the take-off instruction sending module is used for detecting whether the airport of the unmanned aerial vehicle meets a preset quasi-flying condition or not when receiving the take-off request message, and sending a take-off instruction to the unmanned aerial vehicle control device when detecting that the airport of the unmanned aerial vehicle meets the preset quasi-flying condition, so that the unmanned aerial vehicle control device controls the unmanned aerial vehicle to take off and patrol based on a preset patrol route.
In a fifth aspect, an embodiment of the present invention further provides an unmanned aerial vehicle control apparatus, including:
the second detection module is used for detecting whether the unmanned aerial vehicle meets a preset takeoff condition or not when the trigger operation of the airport control device is detected;
a take-off request message sending module, configured to send a take-off request message to the airport control device when it is detected that the unmanned aerial vehicle meets a preset take-off condition;
and the inspection control module is used for controlling the unmanned aerial vehicle to take off and performing inspection based on a preset inspection route when a take-off instruction sent by the airport control device based on the take-off request message is received.
In a sixth aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the patrol method provided by the second aspect or the third aspect.
In a seventh aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the inspection method according to the second aspect or the third aspect.
The embodiment of the invention has the following advantages or beneficial effects:
the automatic inspection process of the unmanned aerial vehicle can be realized by utilizing the airport monitoring device, the airport control device and the unmanned aerial vehicle control device. Specifically, the airport control device detects whether the unmanned aerial vehicle meets a preset inspection condition when receiving an unmanned aerial vehicle starting instruction sent by the airport monitoring device, and sends an inspection request message to the airport monitoring device when detecting that the unmanned aerial vehicle meets the preset inspection condition; when an inspection instruction sent by the airport monitoring device based on the inspection request message is received, the unmanned aerial vehicle control device is triggered to detect whether the unmanned aerial vehicle meets the preset takeoff condition. The unmanned aerial vehicle control device sends a takeoff request message to the airport control device when detecting that the unmanned aerial vehicle meets a preset takeoff condition, and controls the unmanned aerial vehicle to take off and patrol based on a preset patrol route when receiving a takeoff instruction sent by the airport control device based on the takeoff request message. The whole process of patrolling and examining need not artificial control unmanned aerial vehicle to unmanned aerial vehicle's automation has been realized patrolling and examining, has saved the cost of labor and has promoted the security.
Drawings
Fig. 1 is a schematic structural diagram of an inspection system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another inspection system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another inspection system according to an embodiment of the present invention;
fig. 3a is a schematic structural diagram of an unmanned aerial vehicle airfield according to an embodiment of the present invention;
fig. 3b is a schematic structural diagram of an unmanned aerial vehicle righting device according to an embodiment of the present invention;
fig. 3c is a schematic structural diagram of a charging device according to an embodiment of the present invention;
fig. 3d is a schematic perspective view of four charging devices enclosing a rectangle in an unmanned aerial vehicle airport according to an embodiment of the present invention;
fig. 3e is a schematic structural diagram of the unmanned aerial vehicle in a charging state according to the first embodiment of the present invention;
fig. 4 is a flowchart of a polling method according to a second embodiment of the present invention;
fig. 5 is a flowchart of a polling method according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of an airport control device according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of an unmanned aerial vehicle control device according to a fifth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an apparatus according to a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of an inspection system according to an embodiment of the present invention, which is applicable to controlling an unmanned aerial vehicle in an unmanned aerial vehicle airport to perform automatic inspection. As shown in fig. 1, the inspection system includes: airport monitoring device 10, airport control device 20 and unmanned aerial vehicle control device 30.
Wherein the airport control apparatus 20 is configured to: when receiving an unmanned aerial vehicle starting instruction sent by the airport monitoring device 10, detecting whether the unmanned aerial vehicle meets a preset inspection condition, and sending an inspection request message to the airport monitoring device 10 when detecting that the unmanned aerial vehicle meets the preset inspection condition; when receiving a patrol instruction sent by the airport monitoring device 10 based on the patrol request message, triggering the unmanned aerial vehicle control device 30 to detect whether the unmanned aerial vehicle meets a preset takeoff condition; the drone control device 30 is configured to: when detecting that the unmanned aerial vehicle meets the preset takeoff condition, sending a takeoff request message to the airport control device 20, and when receiving a takeoff instruction sent by the airport control device 20 based on the takeoff request message, controlling the unmanned aerial vehicle to take off and performing routing inspection based on a preset routing inspection route.
The airport monitoring device 10 may be a device for monitoring and controlling the inspection condition of an unmanned aerial vehicle airport, and may generate an unmanned aerial vehicle start instruction and an inspection instruction based on a user operation. Airport monitoring devices 10 can be placed in the unmanned aerial vehicle airport, also can place outside the unmanned aerial vehicle airport, and its specific position can set up based on the business demand. The airport control device 20 may be installed in a drone airport for controlling drone airport internal devices. The airport control device 20 may be installed in a drone for controlling the drone's internal devices. The specific installation positions of the airport monitoring device 10, the airport control device 20, and the unmanned aerial vehicle control device 30 are not limited in this embodiment.
The airport monitoring device 10 can be connected to and communicate with the airport control device 20 in advance for data transmission. For example, the airport monitoring device 10 and the airport control device 20 may communicate wirelessly over a network. The airport control device 20 can be connected with the unmanned aerial vehicle control device 30 in advance for communication; also can indirect control and unmanned aerial vehicle controlling means 30's the connection communication state, for example, airport controlling means 20 establishes communication connection with unmanned aerial vehicle controlling means 30 again when needs carry out data transmission to can make unmanned aerial vehicle controlling means get into dormant state when not patrolling and examining, avoid interfering, the energy can be saved.
Specifically, when the unmanned aerial vehicle inspection is needed, the user may trigger the unmanned aerial vehicle start instruction generation operation in the airport monitoring device 10, so that the airport monitoring device 10 may generate the unmanned aerial vehicle start instruction based on the user operation. For example, the user can click or touch the mode of unmanned aerial vehicle start button on airport monitoring device 10's display interface for airport monitoring device 10 can generate unmanned aerial vehicle start instruction, and send the unmanned aerial vehicle start instruction that generates to airport control device 20 in, so that airport control device 20 can carry out detection operation based on this unmanned aerial vehicle start instruction, in order to determine whether satisfy at present and predetermine the condition of patrolling and examining, guarantee the security of patrolling and examining. When the airport control device 20 receives the starting instruction of the unmanned aerial vehicle, it can obtain the required current unmanned aerial vehicle information based on the preset inspection condition, and detect whether the current unmanned aerial vehicle meets the preset inspection condition according to the current unmanned aerial vehicle information, if so, send an inspection request message to the airport monitoring device 10 to request whether to perform the subsequent inspection operation. When the airport monitoring device 10 receives the patrol request message, the patrol request message can be displayed on a display interface of the airport monitoring device to prompt a user that the unmanned aerial vehicle meets a preset patrol condition and whether subsequent patrol operation needs to be executed or not, if the user needs to continue the patrol operation, the patrol instruction generating operation can be triggered in the airport monitoring device 10, so that the airport monitoring device 10 can generate a patrol instruction based on the user operation and send the generated patrol instruction to the airport control device 20.
Airport control device 20 can trigger unmanned aerial vehicle control device 30 to detect whether unmanned aerial vehicle satisfies the preset condition of taking off through the mode of sending the instruction or controlling unmanned aerial vehicle control device 30 to supply power when receiving the instruction of patrolling and examining. For example, if the airport control device 20 establishes a communication connection with the drone control device 30 in advance, a takeoff detection instruction may be directly sent to the drone control device 30, so that the drone control device 30 may detect whether the drone satisfies a preset takeoff condition when receiving the takeoff detection instruction. If the airport control device 20 does not establish a communication connection with the unmanned aerial vehicle control device 30, the unmanned aerial vehicle control device 30 can be triggered in a power supply mode, so that the unmanned aerial vehicle control device 30 detects whether the unmanned aerial vehicle meets the preset takeoff condition after the electric energy is supplied.
The drone control device 30 may acquire the required current drone information based on the preset takeoff condition, detect whether the current drone satisfies the preset takeoff condition according to the current drone information, and if so, send a takeoff request message to the airport control device 20 to request whether to perform a takeoff operation. Airport controlling means 20 is when receiving the request message of taking off, whether detect current unmanned aerial vehicle airport and can guarantee that unmanned aerial vehicle normally takes off, if, then send the instruction of taking off to unmanned aerial vehicle controlling means 30, make unmanned aerial vehicle controlling means 30 when receiving the instruction of taking off, can control the unmanned aerial vehicle of placing on the platform of taking off and landing inside the unmanned aerial vehicle airport and normally take off, and patrol and examine on the basis of presetting that it is good in advance to patrol and examine the route and carry out aerial patrol and examine, and need not the manual control unmanned aerial vehicle at whole in-process of patrolling and examining, thereby unmanned aerial vehicle's automation is patrolled and examined.
The technical scheme of this embodiment can realize unmanned aerial vehicle's automation through utilizing airport monitoring devices, airport controlling means and unmanned aerial vehicle controlling means and patrol and examine the process. Specifically, the airport control device detects whether the unmanned aerial vehicle meets a preset inspection condition when receiving an unmanned aerial vehicle starting instruction sent by the airport monitoring device, and sends an inspection request message to the airport monitoring device when detecting that the unmanned aerial vehicle meets the preset inspection condition; when an inspection instruction sent by the airport monitoring device based on the inspection request message is received, the unmanned aerial vehicle control device is triggered to detect whether the unmanned aerial vehicle meets the preset takeoff condition. The unmanned aerial vehicle control device sends a takeoff request message to the airport control device when detecting that the unmanned aerial vehicle meets a preset takeoff condition, and controls the unmanned aerial vehicle to take off and patrol based on a preset patrol route when receiving a takeoff instruction sent by the airport control device based on the takeoff request message. The whole process of patrolling and examining need not artificial control unmanned aerial vehicle to unmanned aerial vehicle's automation has been realized patrolling and examining, has saved the cost of labor and has promoted the security.
On the basis of the above technical solution, fig. 2 shows a schematic structural diagram of another inspection system. As shown in fig. 2, the system may further include: a contact control device 21 connected to the airport control device 20, and a battery device 31 connected to the drone control device 30 in the drone.
Wherein, the contact control device 21 is used for moving when receiving a communication control command sent by the airport control device 20 so as to communicate the airport control device 20 with the battery device 31; accordingly, the airport control apparatus 20 is specifically configured to: when receiving a patrol inspection instruction sent by the airport monitoring device 10 based on the patrol inspection request message, sending a power-on instruction to the battery device 31, so that the battery device provides electric quantity for the unmanned aerial vehicle control device, and triggering the unmanned aerial vehicle control device to detect whether the unmanned aerial vehicle meets a preset takeoff condition.
The contact control device 21 may be an intermediate device for communicating the airport control device 20 with the battery device 31. The contact control device can move under the communication control command of the airport control device 20, so that data transmission can be performed after the airport control device 20 and the battery device 31 are communicated, and the airport control device 20 can indirectly control the power supply condition of the unmanned aerial vehicle control device 30 connected with the battery device 31 in a mode of controlling the battery device 31. The contact control device 21 may communicate the airport control device 20 with the battery device 31 by means of contact.
Specifically, the airport control device 20 sends a communication control instruction to the contact control device 21 when receiving an unmanned aerial vehicle start instruction sent by the airport monitoring device 10 or when receiving an inspection instruction sent by the airport monitoring device 10 based on an inspection request message, and the contact control device 21 can move to the battery device 31 based on the communication control instruction, so that the contact control device 21 contacts the battery device 31, and the airport control device 20 can be communicated with the battery device 31, thereby facilitating subsequent communication. Airport control device 20 can be after establishing communication with battery device 31, sends to battery device 31 and goes up the electric instruction, and battery device 31 is receiving this power-on instruction after, can provide the electric quantity to unmanned aerial vehicle controlling means 30 rather than being connected for unmanned aerial vehicle controlling means 30 can start, and then has triggered unmanned aerial vehicle controlling means 30 and has detected whether the operation of preset take-off condition is satisfied to unmanned aerial vehicle. After the drone control device 30 is started, communication can be established with the airport control device 20 through the wireless communication device in the drone, so that data transmission can be performed subsequently.
It should be noted that, the battery device 31 can be connected with all devices that need to supply power in the unmanned aerial vehicle, so that when the battery device 31 receives a power-on instruction, all devices to be supplied power in the unmanned aerial vehicle are provided with electric energy, so that the unmanned aerial vehicle can start to start. For example, before battery device 31 received the instruction of going up electricity, unmanned aerial vehicle is whole to be in the outage state, i.e. dormant state to can guarantee that unmanned aerial vehicle can place in the airport more safely, can avoid the electromagnetic interference of the extravagant and other equipment of energy simultaneously.
Illustratively, the airport control apparatus 20 is also configured to: after sending the power-on command to the battery device, sending a disconnection control command to the contact control device 21; the contact control means 21 are also adapted to: the airport control device 20 is moved to disconnect the connection with the battery device 31 in accordance with the received disconnection control command.
Specifically, after the unmanned aerial vehicle is powered on, the unmanned aerial vehicle control device 30 establishes communication with the airport control device 20, and contact connection is not required, at this time, the airport control device 20 can send a disconnection control instruction to the contact control device 21, so that the contact control device 21 moves, and the contact with the battery device 31 is disconnected, so that the communication between the airport control device 20 and the battery device 31 is disconnected, and the subsequent unmanned aerial vehicle normally takes off.
On the basis of the above technical solution, the airport control device 20 is further configured to: when an unmanned aerial vehicle starting instruction sent by an airport monitoring device is received, acquiring first electric quantity information and current weather information of the unmanned aerial vehicle; according to first electric quantity information and current weather information, whether detect unmanned aerial vehicle and satisfy and predetermine the condition of patrolling and examining.
Wherein, first electric quantity information can refer to the electric quantity value in the unmanned aerial vehicle before taking off. The current weather information may refer to current weather information in an area to be inspected. The current weather information may include, but is not limited to, a current wind speed and a current precipitation.
Specifically, when the airport control device 20 receives the unmanned aerial vehicle start instruction sent by the airport monitoring device 10, if the airport control device 20 establishes communication with the unmanned aerial vehicle control device 30 in advance, the airport control device 20 may send a first power information acquisition request to the unmanned aerial vehicle control device 30, so that the unmanned aerial vehicle control device 30 may acquire the first power information of the unmanned aerial vehicle based on the first power information acquisition request and send the first power information to the airport control device 20, so that the airport control device 20 may acquire the first power information of the unmanned aerial vehicle. If the airport control device 20 establishes communication with the drone control device 30 by means of the battery device 31, the airport control device 20 may send a first power information acquisition request to the battery device 31 after establishing communication with the battery device 31, so that the first power information of the drone may be acquired by the battery device 31. Illustratively, the battery device 31 is further configured to: when a first electric quantity information acquisition request sent by the airport control device 20 is received, first electric quantity information of the unmanned aerial vehicle is acquired, and the first electric quantity information is sent to the airport control device 20.
Illustratively, as shown in fig. 3, the system further comprises: the weather monitoring device 22 is connected to the airport control device 20, and is configured to acquire the current weather information when receiving the current weather information acquisition request sent by the airport control device 20, and to transmit the current weather information to the airport control device 20, so that the airport control device 20 can acquire the current weather information through the weather monitoring device 22.
Airport control device 20 can detect whether first electric quantity information and current weather information can guarantee that unmanned aerial vehicle carries out the automation and patrols and examines when acquireing unmanned aerial vehicle's first electric quantity information and current weather information, if, then can confirm that unmanned aerial vehicle satisfies and predetermines the condition of patrolling and examining. Exemplarily, the airport control apparatus 20 is specifically configured to: the electric quantity value that detects in the first electric quantity information is greater than first predetermined electric quantity value to and current wind speed is less than predetermined wind speed and current precipitation is zero, show that unmanned aerial vehicle's electric quantity and current weather all can guarantee that unmanned aerial vehicle normally patrols and examines, can confirm that unmanned aerial vehicle satisfies to predetermine the condition of patrolling and examining this moment.
For example, when acquiring the first power information and the current weather information of the drone, the airport control device 20 may transmit the acquired first power information and the current weather information to the airport monitoring device 10, so that the airport monitoring device 10 may display the power information and the weather information on a display interface for a user to monitor.
On the basis of the above technical solution, as shown in fig. 3, the system further includes: the airport cover opening device 23 is connected with the airport control device 20 and is used for opening an airport cabin cover of the unmanned aerial vehicle airport when receiving a cover opening control instruction sent by the airport control device 20; the uncovering control instruction is sent by the airport control device 20 when receiving the unmanned aerial vehicle inspection instruction sent by the airport monitoring device 10 or when receiving the takeoff request message sent by the unmanned aerial vehicle control device 30.
The airport cover opening device 23 may be a device for controlling the opening or closing of an airport cover of an unmanned aerial vehicle airport. When unmanned aerial vehicle prepares to take off, need open airport cang gai to make unmanned aerial vehicle can normally take off from the unmanned aerial vehicle airport.
Specifically, the airport control device 20 may send the uncovering control instruction to the airport uncovering device 23 when receiving the unmanned aerial vehicle polling instruction sent by the airport monitoring device 10 or when receiving the takeoff request message sent by the unmanned aerial vehicle control device 10, that is, before the unmanned aerial vehicle takes off, so that the airport cabin cover of the unmanned aerial vehicle airport is opened, so that the unmanned aerial vehicle can take off normally from the airport.
Exemplarily, fig. 3a shows a schematic structural view of a drone airport 100. As shown in fig. 3a, the drone airport 100 includes a support frame 1, a parking apron 2, an airport hatch 3, and an airport hatch device 4. As shown in fig. 3a, the airport canopies 3 are located on top of the tarmac 2, which can protect the drones 200. The airport bin cover 3 is in driving connection with an airport cover opening device 23 and is used for controlling the opening and closing of the airport bin cover 3. For example, the lid 3 includes a first enclosure 301 and a second enclosure 302. When the airport cover opening device 23 receives the cover opening control instruction, the first cover 301 and the second cover 302 can be controlled to move relatively to the farthest position, so that the airport bin cover 3 is opened. Specifically, the airport door-opening device 23 may be controlled by a link structure, a linear moving mechanism, or the like. As shown in fig. 3a, two active rods are disposed on two sides of the first cover 301 and the second cover 302, so that the movement of the covers is more stable and reliable. When the airport cover opening device 23 receives a cover opening control instruction, the active rod on the first cover 301 side and the active rod on the second cover 302 side are controlled to move outwards, so that the first cover 301 and the second cover 302 move back to back, and the airport cabin cover 3 is opened.
On the basis of the above technical solution, as shown in fig. 3, the system further includes: the unmanned aerial vehicle righting device 24 is connected with the airport control device 20 and used for removing a fixing module used for fixing the unmanned aerial vehicle in the unmanned aerial vehicle righting device 24 when a righting removing instruction sent by the airport control device 20 is received; the righting release instruction is sent by the airport control device 20 when receiving the unmanned aerial vehicle inspection instruction sent by the airport monitoring device 10 or when receiving the takeoff request message sent by the unmanned aerial vehicle control device 30.
Wherein, unmanned aerial vehicle device 24 of reforming can utilize inside fixed module to fix unmanned aerial vehicle for unmanned aerial vehicle can be in the state of reforming. When unmanned aerial vehicle prepares to take off, need to remove the fixed module that is used for fixed unmanned aerial vehicle to make unmanned aerial vehicle can normally take off from the unmanned aerial vehicle airport.
Specifically, the airport control device 20 may send a return cancellation instruction to the unmanned aerial vehicle return device 24 when receiving the unmanned aerial vehicle polling instruction sent by the airport monitoring device 10, or when receiving a takeoff request message sent by the unmanned aerial vehicle control device 10, that is, before the unmanned aerial vehicle takes off, so that the fixing module for fixing the unmanned aerial vehicle is cancelled, so that the unmanned aerial vehicle can take off normally from the airport.
Exemplarily, fig. 3b shows a schematic structural diagram of an unmanned aerial vehicle righting device. The top that can be at the air park 2 at the unmanned aerial vehicle airport sets up unmanned aerial vehicle device 24 that reforms oneself to in the back of unmanned aerial vehicle 200 parks, make unmanned aerial vehicle 200 can neatly put things in good order according to the direction of setting for. As shown in fig. 3b, the drone righting device 24 may push the drone 200 to move to a set position by the linear movement of each righting rod. As shown in fig. 3b, the drone righting device 24 may include a plurality of righting poles mounted on the apron 2. The unmanned aerial vehicle 200 is clamped through linear movement of the plurality of righting rods, so that the unmanned aerial vehicle 200 stops at the set position of the parking apron 2.
Specifically, as shown in fig. 3b, the fixing module for the drone in the drone righting device 24 may be four righting rods, which are the righting rod 806, the righting rod 807, the righting rod 808 and the righting rod 809 in fig. 3 b. The four correcting rods are parallel two by two and form a rectangular frame. Four poles of reforming move in opposite directions simultaneously for the length of side of rectangular frame shortens to the size of cliping unmanned aerial vehicle 200, then is located the unmanned aerial vehicle 200 of rectangular frame and can be moved by the pole of reforming afterwards. Four pole of reforming move back to back simultaneously for the length of side of rectangular frame is elongated to the size of loosening unmanned aerial vehicle 200, and then unmanned aerial vehicle 200 that is located the rectangular frame can the unblock, and follow-up unmanned aerial vehicle 200 can fly away. Specifically, unmanned aerial vehicle device 24 of reforming when receiving the reforming of airport controlling means 20 transmission and remove the instruction, can control four bars of reforming and carry out the back of the body simultaneously, unclamp unmanned aerial vehicle 200 of cliping to remove the fixed module that is used for fixed unmanned aerial vehicle in the device 24 of reforming of unmanned aerial vehicle.
Illustratively, the airport control apparatus 20 is also configured to: when a takeoff request message sent by the unmanned aerial vehicle control device 30 is received, whether an airport bin cover of the unmanned aerial vehicle is opened or not and whether a fixing module used for fixing the unmanned aerial vehicle in the unmanned aerial vehicle righting device is released or not are detected; if the airport bin cover is opened and the fixed module is released, a take-off instruction is sent to the unmanned aerial vehicle control device, so that the unmanned aerial vehicle can normally take off from the unmanned aerial vehicle airport.
On the basis of the above technical scheme, the unmanned aerial vehicle control device 30 is specifically used for: carrying out self-checking on each sensor in the unmanned aerial vehicle based on a preset self-checking program; if the self-checking problem does not exist, the number of the positioning satellites currently received is obtained, and when the number of the positioning satellites currently received is larger than the preset number, the unmanned aerial vehicle is determined to meet the preset takeoff condition.
Wherein, the positioning satellite quantity of current receipt can mean the current quantity of the positioning satellite that can detect of unmanned aerial vehicle, when this quantity is greater than predetermined quantity, can guarantee that unmanned aerial vehicle is patrolling and examining the in-process and is pinpointing, is convenient for carry out the automation and patrols and examines.
Illustratively, as shown in fig. 3, the system further comprises: satellite positioning means 32 connected to the drone controlling means 30 for: the satellite positioning detection is performed when receiving a satellite number detection instruction sent by the unmanned aerial vehicle control device 30, the number of currently received positioning satellites is acquired, and the number of currently received positioning satellites is sent to the unmanned aerial vehicle control device 30, so that the unmanned aerial vehicle control device 30 can obtain the number of currently received positioning satellites in real time. The satellite number detection instruction may be sent by the drone controlling device 30 when detecting that there is no self-detection problem. The satellite positioning means 32 may be a device for satellite positioning measurements arranged using Real-time kinematic (RTK) techniques.
On the basis of the above technical solution, as shown in fig. 3, the system further includes: a camera device 34, an image transmission device 35 connected to the camera device 34, and a ground-side image receiving device 35; the camera device 34 is used for acquiring the inspection image and sending the inspection image to the image transmission device 35; the image transmission device 35 is used for transmitting the received patrol inspection image to the ground-side image receiving device 25; the ground side image receiving device 25 is used for storing the received patrol inspection image.
The specific installation positions of the camera device 34 and the image transmission device 35 in the unmanned aerial vehicle can be determined based on business requirements. Ground end image receiving device 25 can install in the unmanned aerial vehicle airport, also can install outside the unmanned aerial vehicle airport. The present embodiment does not limit the specific installation positions of the camera device 34, the image transmission device 35, and the ground-side image receiving device 25.
Specifically, the camera device 34 may be connected to the drone control device 30 so as to capture the patrol image upon receiving a capture instruction of the drone control device 30. The camera device 34 may not be connected to the drone control device 30 so that the inspection image is acquired in real time after the camera device 34 is powered. After the camera device 34 collects the inspection image, the inspection image may be transmitted to the ground-side image receiving device 25 through the image transmission device 35. The ground-side image receiving device 25 can send the received inspection image to the cloud for storage, and also can send the inspection image to the airport monitoring device 10 for storage, so that the airport monitoring device 10 can display the inspection image on a display interface in real time, and inspection visualization is realized.
On the basis of the above technical solution, the airport control device 20 is further configured to: when the unmanned aerial vehicle inspection is detected to finish landing, sending a communication control instruction to the contact control device 21 so that the contact control device 21 moves based on the communication control instruction to communicate the airport control device 20 with the battery device 31; and sending a power-off instruction to the battery device 31 to stop the battery device 31 to supply power to the unmanned aerial vehicle control device 30.
Specifically, when unmanned aerial vehicle patrols and examines after the route based on predetermineeing, can descend on the platform of taking off and landing at the unmanned aerial vehicle airport, airport controlling means 20 when detecting that unmanned aerial vehicle lands to the platform of taking off and landing, can send the intercommunication control command to contact controlling means 21 and battery device 31, and then make airport controlling means 20 and battery device 31 communicate. The airport control device 20 can stop the battery device 31 from providing electric quantity for the unmanned aerial vehicle control device 30 by sending a power-off instruction to the battery device 31, and can also stop providing electric quantity for other power supply equipment in the unmanned aerial vehicle, so that the unmanned aerial vehicle is in a power-off state.
On the basis of the above technical solution, the system further includes: a charging device 26 connected to the airport control device 20 for charging the unmanned aerial vehicle; correspondingly, the airport control apparatus 20 is also configured to: sending a second electric quantity information acquisition request to the battery device 31 to acquire second electric quantity information of the unmanned aerial vehicle acquired by the battery device 31; when detecting that the electric quantity value in the second electric quantity information is smaller than a second preset electric quantity value, controlling the charging device 26 to charge the unmanned aerial vehicle, and stopping charging until the electric quantity value of the unmanned aerial vehicle is equal to a third preset electric quantity value; after the charging is stopped, an off control command is sent to the contact control device 21 to disconnect the airport control device 20 from the battery device 31.
Wherein, the second electric quantity information can be the electric quantity information after unmanned aerial vehicle finishes patrolling and examining, and it also can gather through battery device 31 and obtain. Airport controlling means 20 indicates that this unmanned aerial vehicle needs to charge when detecting that the electric quantity value of second electric quantity information is less than the second and predetermines electric quantity value to carry out subsequent task of patrolling and examining, can control charging device 26 and battery device 31 this moment and contact, make charging device 26 can charge to unmanned aerial vehicle. When the electric quantity value of the unmanned aerial vehicle is equal to the third preset electric quantity value, the charging device 26 may be controlled to stop charging. When the charging is stopped, an off control command may be sent to the contact control device 21 to disconnect the airport control device 20 from the battery device 31. Illustratively, the charging device 26 can be integrated in the contact control device 21, so that when charging is needed, the contact control device 21 integrated with the charging device 26 can be directly controlled to perform charging, and the inspection operation is simplified.
It should be noted that, airport control device 20 is after sending the outage instruction to battery device 31 for whole unmanned aerial vehicle is in the outage state, and airport control device 20 can control charging device 26 and charge unmanned aerial vehicle this moment, makes can not have electromagnetic interference in the charging process, has further guaranteed unmanned aerial vehicle's security.
For example, fig. 3c shows a schematic structural diagram of the charging device 26; fig. 3d shows a schematic perspective view of four charging devices 26 enclosing a rectangle in the unmanned aerial vehicle airport. As shown in fig. 3c and 3d, the first charging device 6 is mounted on the apron 2 and comprises a first electrode 61. Accordingly, as shown in fig. 3e, the battery device 31 may include a second electrode 71, such that the first electrode 61 is in chargeable engagement with the second electrode 71. For example, the number of the first electrode 61 and the second electrode 71 may be one or more, and the metal contacts of the first electrode 61 and the second electrode 71 are in contact conduction and can be charged; the metal contacts are separated and no longer charged. The first electrodes 61 and the second electrodes 71 may be arranged in an array or arrangement. As shown in fig. 3d, a symmetrical rectangular shape can be enclosed by the charging device 6, so that the head of the drone 200 can be charged regardless of the orientation. That is to say, after unmanned aerial vehicle 200 descends, no matter how unmanned aerial vehicle 200 course, as long as unmanned aerial vehicle 200 is correctly playback, can guarantee that second electrode 71 in unmanned aerial vehicle's battery device 31 can all pair with first electrode 61 in one of them charging device 26 to the rate of accuracy of charging has been guaranteed.
Specifically, when detecting that the electric quantity value in the second electric quantity information is smaller than the second preset electric quantity value, the airport control device 20 may control the charging device 26 to move to the battery device 31, so that the first electrode 61 in the charging device 26 is in contact with the second electrode 71 in the battery device 31 in the unmanned aerial vehicle, so that the metal contact of the two electrodes is in contact conduction, and thus the unmanned aerial vehicle may be charged. When the electric quantity value of the drone is equal to the third preset electric quantity value, the airport control device 20 may control the charging device 26 to be away from the battery device 31, disconnecting the first electrode 61 in the charging device 26 from the second electrode 71 in the battery device 31 in the drone, so that the charging of the drone may be stopped.
Exemplarily, the airport control device 20 can also send the command of reforming to the unmanned aerial vehicle device 24 before sending the intercommunication control command to the contact control device 21, so that the unmanned aerial vehicle device 24 can fix the unmanned aerial vehicle with the fixed module when receiving the command of reforming, and reform the unmanned aerial vehicle, so that the contact control device 21 can be moved to the position of the battery device 31, and the contact of the contact control device 21 and the battery device 31 is realized.
For example, as shown in fig. 3b, when receiving the homing command sent by the airport control device 20, the drone homing device 24 may control the four homing rods to move simultaneously in the opposite directions, so that the side length of the rectangular frame is shortened to a size of clamping the drone 200, thereby homing the drone.
Exemplarily, the airport control device 20 can also send the closing control instruction to the airport cover opening device 23 after detecting that the unmanned aerial vehicle finishes patrolling and examining and falling, so that the airport cover opening device 23 closes the opened airport cabin cover when receiving the closing control instruction, thereby after patrolling and examining, the airport cabin cover can be automatically closed, the whole process of patrolling and examining can be automatically completed, manual control is not needed, and the safety of the unmanned aerial vehicle is ensured.
For example, as shown in fig. 3a, when the airport cover opening device 23 receives a cover closing control instruction, the first cover 301 and the second cover 302 can move to the position of mutual contact in opposite directions by controlling the active rod of the first cover 301 and the active rod of the second cover 302, so that the airport cover 3 is closed, thereby protecting the unmanned aerial vehicle and preventing the unmanned aerial vehicle from being damaged and polluted by external rain, impurities and the like.
Example two
Fig. 4 is a flowchart of an inspection method according to a second embodiment of the present invention, which is applicable to controlling an unmanned aerial vehicle in an unmanned aerial vehicle airport to perform automatic inspection. The method may be performed by the airport control device in the above embodiment, which may be implemented by software and/or hardware, and integrated into a device having a data processing function. Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted.
As shown in fig. 4, the inspection method provided in this embodiment specifically includes the following steps:
s410, when receiving an unmanned aerial vehicle starting instruction sent by the airport monitoring device, detecting whether the unmanned aerial vehicle meets the preset inspection condition.
Exemplarily, S410 may include: when an unmanned aerial vehicle starting instruction sent by an airport monitoring device is received, acquiring first electric quantity information and current weather information of the unmanned aerial vehicle; according to first electric quantity information and current weather information, whether detect unmanned aerial vehicle and satisfy and predetermine the condition of patrolling and examining.
Wherein, first electric quantity information can be obtained through unmanned aerial vehicle's battery device. For example, when receiving an unmanned aerial vehicle start instruction sent by an airport monitoring device, an airport control device sends a first electric quantity information acquisition request to a battery device, so that the battery device acquires first electric quantity information of the unmanned aerial vehicle and returns the first electric quantity information, and the airport control device can acquire the first electric quantity information of the unmanned aerial vehicle. The current weather information may be obtained by a weather monitoring device. For example, when receiving an unmanned aerial vehicle start instruction sent by an airport monitoring device, an airport control device sends a current weather information acquisition request to the weather monitoring device, so that the weather monitoring device acquires current weather information and returns the current weather information, and the airport control device can acquire the current weather information.
For example, the current weather information may include, but is not limited to, a current wind speed and a current precipitation. Correspondingly, according to first electric quantity information and current weather information, detect whether unmanned aerial vehicle satisfies the preset condition of patrolling and examining, can include: when detecting that the electric quantity value in the first electric quantity information is larger than a first preset electric quantity value and the current wind speed is smaller than a preset wind speed and the current precipitation is zero, determining that the unmanned aerial vehicle meets a preset inspection condition.
And S420, when the unmanned aerial vehicle is detected to meet the preset inspection condition, transmitting an inspection request message to the airport monitoring device.
And S430, when receiving a patrol inspection instruction sent by the airport monitoring device based on the patrol inspection request message, triggering the unmanned aerial vehicle control device to detect whether the unmanned aerial vehicle meets a preset take-off condition, so that the unmanned aerial vehicle control device sends a take-off request message to the airport control device when detecting that the preset take-off condition is met.
Illustratively, when receiving a patrol inspection instruction sent by the airport monitoring device based on the patrol inspection request message, triggering the unmanned aerial vehicle control device to detect whether the unmanned aerial vehicle meets a preset takeoff condition may include:
when an inspection instruction sent by the airport monitoring device based on the inspection request message is received, a communication control instruction is sent to the contact control device, so that the contact control device moves based on the communication control instruction, and the airport control device is communicated with the battery device; and sending a power-on instruction to the battery device so that the battery device provides electric quantity for the unmanned aerial vehicle control device, and triggering the unmanned aerial vehicle control device to detect whether the unmanned aerial vehicle meets a preset take-off condition.
It should be noted that, if whether the unmanned aerial vehicle meets the preset inspection condition or not is detected based on the first electric quantity information, when the unmanned aerial vehicle starting instruction sent by the airport monitoring device is received, a communication control instruction is sent to the contact control device, so that the contact control device moves based on the communication control instruction, the airport control device is communicated with the battery device, and the airport control device can obtain the first electric quantity information through the battery device. Correspondingly, when receiving the patrol inspection instruction sent by the airport monitoring device based on the patrol inspection request message, because the communication is established between the airport control device and the battery device, the airport control device can directly send the power-on instruction to the battery device, so that the battery device provides electric quantity for the unmanned aerial vehicle control device, and the unmanned aerial vehicle control device is triggered to detect whether the unmanned aerial vehicle meets the preset takeoff condition or not.
Exemplarily, after the power-on instruction is sent to the battery device, the method further includes: and sending an off control command to the contact control device so that the contact control device moves based on the off control command to disconnect the airport control device from the battery device.
S440, when the takeoff request message is received, detecting whether the airport of the unmanned aerial vehicle meets a preset quasi-flying condition, and when the airport of the unmanned aerial vehicle meets the preset quasi-flying condition, sending a takeoff instruction to the unmanned aerial vehicle control device so that the unmanned aerial vehicle control device controls the unmanned aerial vehicle to take off and patrol based on a preset patrol route.
According to the technical scheme of the embodiment, the airport control device detects whether the unmanned aerial vehicle meets the preset routing inspection condition or not by receiving the unmanned aerial vehicle starting instruction sent by the airport monitoring device, and sends a routing inspection request message to the airport monitoring device when detecting that the unmanned aerial vehicle meets the preset routing inspection condition; when an inspection instruction sent by the airport monitoring device based on the inspection request message is received, the unmanned aerial vehicle control device is triggered to detect whether the unmanned aerial vehicle meets the preset takeoff condition. When receiving an airport control device to send a takeoff request message, detecting whether an unmanned aerial vehicle airport meets a preset quasi-flight condition, and when detecting that the unmanned aerial vehicle airport meets the preset quasi-flight condition, sending a takeoff instruction to the unmanned aerial vehicle control device so that the unmanned aerial vehicle control device controls the unmanned aerial vehicle to take off and patrol based on a preset patrol route. The whole process of patrolling and examining need not artificial control unmanned aerial vehicle to unmanned aerial vehicle's automation has been realized patrolling and examining, has saved the cost of labor and has promoted the security.
On the basis of the above technical scheme, when receiving the unmanned aerial vehicle that airport monitoring devices sent and patrolling and examining the instruction, or when receiving the request message of taking off that unmanned aerial vehicle controlling means sent, still include: and sending a cover opening control instruction to the airport cover opening device so that the airport cover opening device opens the airport bin cover of the unmanned aerial vehicle airport.
On the basis of the above technical scheme, when receiving the unmanned aerial vehicle that airport monitoring devices sent and patrolling and examining the instruction, or when receiving the request message of taking off that unmanned aerial vehicle controlling means sent, still include: send the instruction of removing of reforming to unmanned aerial vehicle device to make unmanned aerial vehicle device of reforming remove the fixed module that is used for fixed unmanned aerial vehicle in with unmanned aerial vehicle device of reforming.
For example, when the takeoff request message is received in S440, detecting whether the drone airport satisfies the preset quasi-flight condition may include: when a takeoff request message sent by an unmanned aerial vehicle control device is received, detecting whether an airport bin cover of the unmanned aerial vehicle is opened or not and whether a fixing module used for fixing the unmanned aerial vehicle in an unmanned aerial vehicle righting device is released or not; if the airport bin cover is opened and the fixing module is released, the unmanned aerial vehicle airport is determined to meet the preset quasi-flight condition.
On the basis of the technical scheme, when the unmanned aerial vehicle is detected to finish the inspection and landing, a communication control instruction is sent to the contact control device, so that the contact control device moves based on the communication control instruction, and the airport control device is communicated with the battery device; and sending a power-off command to the battery device to stop the battery device from supplying power to the unmanned aerial vehicle control device.
Exemplarily, after sending the power-off instruction to the battery device, the method may further include: sending a second electric quantity information acquisition request to the battery device to acquire second electric quantity information of the unmanned aerial vehicle acquired by the battery device; when detecting that the electric quantity value in the second electric quantity information is smaller than a second preset electric quantity value, controlling a charging device to charge the unmanned aerial vehicle, and stopping charging until the electric quantity value of the unmanned aerial vehicle is equal to a third preset electric quantity value; after the charging is stopped, an off control command is sent to the contact control device to disconnect the airport control device from the battery device.
It should be noted that airport control device is sending the outage instruction back to battery device for whole unmanned aerial vehicle is in the outage state, and airport control device can control charging device and charge to unmanned aerial vehicle this moment, makes can not have electromagnetic interference among the charging process, has further guaranteed unmanned aerial vehicle's security.
Exemplarily, airport controlling means can also be when sending the instruction of reforming to the unmanned aerial vehicle device before sending the intercommunication control instruction to contact controlling means to make unmanned aerial vehicle device of reforming when receiving the instruction of reforming, can fix unmanned aerial vehicle with fixed module, and reform unmanned aerial vehicle, so that can remove contact controlling means to battery device position, realize contact controlling means and battery device's contact.
Exemplarily, airport control device is detecting that unmanned aerial vehicle patrols and examines after finishing falling, can also to the airport device of uncapping when sending closing lid control command to make the airport device of uncapping when receiving closing lid control command, can close the airport cang gai of opening, thereby patrolling and examining after, can be with airport cang gai self-closing, make whole process of patrolling and examining all can accomplish automatically, need not manual control, and guaranteed unmanned aerial vehicle's security.
EXAMPLE III
Fig. 5 is a flowchart of an inspection method according to a third embodiment of the present invention, which is applicable to controlling an unmanned aerial vehicle in an unmanned aerial vehicle airport to perform automatic inspection. The method can be executed by the drone controlling device in the first embodiment, and the drone controlling device can be implemented by software and/or hardware, and is integrated in a device with a data processing function. Wherein explanations of the same or corresponding terms as those in the above embodiment are omitted.
As shown in fig. 5, the inspection method provided in this embodiment specifically includes the following steps:
s510, when the trigger operation of the airport control device is detected, whether the unmanned aerial vehicle meets a preset takeoff condition is detected.
Exemplarily, S510 may include: when the trigger operation of the airport control device is detected, self-checking is carried out on each sensor in the unmanned aerial vehicle based on a preset self-checking program; if the self-checking problem does not exist, the number of the positioning satellites currently received is obtained, and when the number of the positioning satellites currently received is larger than the preset number, the unmanned aerial vehicle is determined to meet the preset takeoff condition.
Wherein, the number of the positioning satellites currently received can be obtained by the satellite positioning device. For example, when it is detected that there is no self-checking problem, a satellite number detection instruction is transmitted to the satellite positioning device to cause the satellite positioning device to perform satellite positioning detection based on the satellite number detection instruction, and the obtained currently received positioning satellite number is returned so that the unmanned aerial vehicle control device can obtain the currently received positioning satellite number in real time.
S520, when the unmanned aerial vehicle is detected to meet the preset takeoff condition, sending a takeoff request message to the airport control device.
And S530, when a takeoff instruction sent by the airport control device based on the takeoff request message is received, controlling the unmanned aerial vehicle to take off and carrying out inspection based on a preset inspection route.
According to the technical scheme, when the unmanned aerial vehicle control device is triggered to operate through detecting airport control device, whether the unmanned aerial vehicle meets the preset take-off condition is detected, if yes, the take-off request message is sent to the airport control device, and when the take-off instruction sent by the airport control device based on the take-off request message is received, the unmanned aerial vehicle is controlled to take off and is patrolled and examined based on the preset patrol and examine route, so that the unmanned aerial vehicle does not need manual control in the whole patrol and examine process, the automatic patrol and examine of the unmanned aerial vehicle is realized, the labor cost is saved, and the safety is.
Example four
Fig. 6 is a schematic structural diagram of an airport control device provided in the fourth embodiment of the present invention, where this embodiment is applicable to controlling an unmanned aerial vehicle in an unmanned aerial vehicle airport to perform automatic inspection, and the device specifically includes: the system comprises a first detection module 610, a patrol request message sending module 620, a triggering module 630 and a takeoff instruction sending module 640.
The first detection module 610 is configured to detect whether the unmanned aerial vehicle meets a preset inspection condition when receiving an unmanned aerial vehicle start instruction sent by the airport monitoring device; the routing inspection request message sending module 620 is used for sending a routing inspection request message to the airport monitoring device when the unmanned aerial vehicle is detected to meet the preset routing inspection condition; the triggering module 630 is configured to, when receiving a patrol instruction sent by the airport monitoring device based on the patrol request message, trigger the drone control device to detect whether the drone meets a preset takeoff condition, so that the drone control device sends a takeoff request message to the airport control device when detecting that the preset takeoff condition is met; a take-off instruction sending module 640, configured to detect whether the airport of the unmanned aerial vehicle meets a preset quasi-flight condition when receiving the take-off request message, and send a take-off instruction to the unmanned aerial vehicle control device when detecting that the airport of the unmanned aerial vehicle meets the preset quasi-flight condition, so that the unmanned aerial vehicle control device controls the unmanned aerial vehicle to take off and patrol based on a preset patrol route.
Optionally, the first detection module 610 includes:
the information acquisition unit is used for acquiring first electric quantity information and current weather information of the unmanned aerial vehicle when receiving an unmanned aerial vehicle starting instruction sent by the airport monitoring device;
the first detection unit is used for detecting whether the unmanned aerial vehicle meets the preset inspection condition or not according to the first electric quantity information and the current weather information.
Optionally, the information acquiring unit includes: the first electric quantity information acquisition subunit is used for sending a first electric quantity information acquisition request to the battery device when receiving an unmanned aerial vehicle starting instruction sent by the airport monitoring device, so that the battery device acquires first electric quantity information of the unmanned aerial vehicle and returns the first electric quantity information.
Optionally, the information acquiring unit further includes: the current weather information acquisition subunit is used for sending a current weather information acquisition request to the weather monitoring device when receiving an unmanned aerial vehicle starting instruction sent by the airport monitoring device, so that the weather monitoring device acquires the current weather information and returns the current weather information
Optionally, the first detection unit is specifically configured to: when detecting that the electric quantity value in the first electric quantity information is larger than a first preset electric quantity value and the current wind speed is smaller than a preset wind speed and the current precipitation is zero, determining that the unmanned aerial vehicle meets a preset inspection condition.
Optionally, the triggering module 630 is specifically configured to: when an inspection instruction sent by the airport monitoring device based on the inspection request message is received, a communication control instruction is sent to the contact control device, so that the contact control device moves based on the communication control instruction, and the airport control device is communicated with the battery device; and sending a power-on instruction to the battery device so that the battery device provides electric quantity for the unmanned aerial vehicle control device, and triggering the unmanned aerial vehicle control device to detect whether the unmanned aerial vehicle meets a preset take-off condition.
Optionally, the apparatus further comprises:
and the disconnection control instruction sending module is used for sending a disconnection control instruction to the contact control device after sending a power-on instruction to the battery device so as to enable the contact control device to move based on the disconnection control instruction and disconnect the airport control device from the battery device.
Optionally, the apparatus further comprises:
the cover opening control instruction sending module is used for sending a cover opening control instruction to the airport cover opening device when receiving an unmanned aerial vehicle inspection instruction sent by the airport monitoring device or receiving a take-off request message sent by the unmanned aerial vehicle control device, so that the airport cover opening device opens an airport cabin cover of an airport of the unmanned aerial vehicle.
Optionally, the apparatus further comprises:
the restoring releasing instruction sending module is used for sending a restoring releasing instruction to the unmanned aerial vehicle restoring device when an unmanned aerial vehicle routing inspection instruction sent by the airport monitoring device is received or a takeoff request message sent by the unmanned aerial vehicle control device is received, so that the unmanned aerial vehicle restoring device releases a fixing module used for fixing the unmanned aerial vehicle in the unmanned aerial vehicle restoring device.
Optionally, the takeoff instruction sending module 640 is specifically configured to: when a takeoff request message sent by an unmanned aerial vehicle control device is received, detecting whether an airport bin cover of the unmanned aerial vehicle is opened or not and whether a fixing module used for fixing the unmanned aerial vehicle in an unmanned aerial vehicle righting device is released or not; if the airport bin cover is opened and the fixing module is released, the unmanned aerial vehicle airport is determined to meet the preset quasi-flight condition.
Optionally, the apparatus further comprises:
the communication control instruction sending module is used for sending a communication control instruction to the contact control device when the unmanned aerial vehicle is detected to finish the inspection and landing so as to enable the contact control device to move based on the communication control instruction and communicate the airport control device with the battery device;
and the power-off instruction sending module is used for sending a power-off instruction to the battery device so as to stop the battery device from providing electric quantity for the unmanned aerial vehicle control device.
Optionally, the apparatus further comprises:
the second electric quantity information acquisition module is used for sending a second electric quantity information acquisition request to the battery device after sending a power-off instruction to the battery device so as to acquire second electric quantity information of the unmanned aerial vehicle acquired by the battery device;
the charging control module is used for controlling the charging device to charge the unmanned aerial vehicle when detecting that the electric quantity value in the second electric quantity information is smaller than a second preset electric quantity value, and stopping charging until the electric quantity value of the unmanned aerial vehicle is equal to a third preset electric quantity value;
and the disconnection control instruction sending module is also used for sending a disconnection control instruction to the contact control device after the charging is stopped so as to disconnect the communication between the airport control device and the battery device.
The airport control device provided by the embodiment of the invention can execute the inspection method provided by the second embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the inspection method.
EXAMPLE five
Fig. 7 is a schematic structural diagram of an airport control device provided in the fifth embodiment of the present invention, where this embodiment is applicable to controlling an unmanned aerial vehicle in an unmanned aerial vehicle airport to perform automatic inspection, and the device specifically includes: a second detection module 710, a takeoff request message sending module 720 and an inspection control module 730.
The second detection module 710 is configured to detect whether the unmanned aerial vehicle meets a preset takeoff condition when a trigger operation of the airport control device is detected; a takeoff request message sending module 720, configured to send a takeoff request message to the airport control device when it is detected that the unmanned aerial vehicle meets a preset takeoff condition; and the inspection control module 730 is used for controlling the unmanned aerial vehicle to take off and performing inspection based on a preset inspection route when receiving a take-off instruction sent by the airport control device based on the take-off request message.
Optionally, the second detecting module 710 is specifically configured to: when the trigger operation of the airport control device is detected, self-checking is carried out on each sensor in the unmanned aerial vehicle based on a preset self-checking program; if the self-checking problem does not exist, the number of the positioning satellites currently received is obtained, and when the number of the positioning satellites currently received is larger than the preset number, the unmanned aerial vehicle is determined to meet the preset takeoff condition.
Optionally, the second detection module 710 includes:
and the positioning satellite number acquisition unit is used for sending a satellite number detection instruction to the satellite positioning device when detecting that the self-checking problem does not exist, so that the satellite positioning device carries out satellite positioning detection based on the satellite number detection instruction, and returns the acquired currently received positioning satellite number.
The unmanned aerial vehicle control device provided by the embodiment of the invention can execute the inspection method provided by the third embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the inspection method.
EXAMPLE six
Fig. 8 is a schematic structural diagram of an apparatus according to a sixth embodiment of the present invention. Referring to fig. 8, the apparatus includes:
one or more processors 810;
a memory 820 for storing one or more programs;
when the one or more programs are executed by the one or more processors 810, the one or more processors 810 may implement the patrol method provided by the second or third embodiment of the present invention.
FIG. 8 illustrates an example of a processor 810; the processor 810 and the memory 820 in the device may be connected by a bus or other means, as exemplified by the bus connection in fig. 8.
The memory 820 is a computer-readable storage medium and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the inspection method in the embodiment of the present invention. The processor 810 executes various functional applications and data processing of the device by executing software programs, instructions and modules stored in the memory 820, namely, the patrol method provided by the second embodiment or the third embodiment of the present invention is implemented.
The memory 820 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 820 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 820 may further include memory located remotely from the processor 810, which may be connected to devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The equipment provided by the embodiment of the invention can execute the inspection method provided by the second embodiment or the third embodiment of the invention, and has corresponding beneficial effects of executing the inspection method.
EXAMPLE seven
A seventh embodiment provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the inspection method provided in the second or third embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (21)

1. An inspection system, the system comprising: the system comprises an airport monitoring device, an airport control device and an unmanned aerial vehicle control device;
wherein the airport control apparatus is configured to: when receiving an unmanned aerial vehicle starting instruction sent by the airport monitoring device, detecting whether the unmanned aerial vehicle meets a preset inspection condition, and sending an inspection request message to the airport monitoring device when detecting that the unmanned aerial vehicle meets the preset inspection condition; when an inspection instruction sent by the airport monitoring device based on the inspection request message is received, the unmanned aerial vehicle control device is triggered to detect whether the unmanned aerial vehicle meets a preset takeoff condition;
the unmanned aerial vehicle controlling means is used for: when the unmanned aerial vehicle is detected to meet the preset takeoff condition, sending a takeoff request message to the airport control device, and when a takeoff instruction sent by the airport control device based on the takeoff request message is received, controlling the unmanned aerial vehicle to take off and carrying out inspection based on a preset inspection route.
2. The system of claim 1, further comprising: the contact control device is connected with the airport control device, and the battery device in the unmanned aerial vehicle is connected with the unmanned aerial vehicle control device;
the contact control device is used for moving when receiving a communication control command sent by the airport control device so as to communicate the airport control device with the battery device;
accordingly, the airport control apparatus is particularly adapted to: when receiving the airport monitoring device is based on the patrol and examine instruction that the request message of patrolling and examining sent, to battery device sends and goes up the electric instruction, so that battery device does unmanned aerial vehicle controlling means provides the electric quantity, triggers unmanned aerial vehicle controlling means detects whether unmanned aerial vehicle satisfies the condition of predetermineeing to take off.
3. The system of claim 2,
the airport control apparatus is further configured to: after sending a power-on command to the battery device, sending a disconnection control command to the contact control device;
the contact control device is further configured to: and moving according to the received disconnection control command to disconnect the airport control device from the battery device.
4. The system of claim 1 or 2, wherein the airport control device is further configured to:
when an unmanned aerial vehicle starting instruction sent by the airport monitoring device is received, acquiring first electric quantity information and current weather information of the unmanned aerial vehicle;
and detecting whether the unmanned aerial vehicle meets preset inspection conditions or not according to the first electric quantity information and the current weather information.
5. The system of claim 4, wherein the battery device is further configured to:
when a first electric quantity information acquisition request sent by the airport control device is received, the first electric quantity information of the unmanned aerial vehicle is acquired, and the first electric quantity information is sent to the airport control device.
6. The system of claim 4, further comprising:
and the weather monitoring device is connected with the airport control device and used for acquiring current weather information and transmitting the current weather information to the airport control device when receiving a current weather information acquisition request sent by the airport control device.
7. The system of claim 4, wherein the current weather information comprises: current wind speed and current precipitation;
the airport control device is specifically configured to: when detecting that the electric quantity value in the first electric quantity information is greater than a first preset electric quantity value, and the current wind speed is less than a preset wind speed and the current precipitation is zero, determining that the unmanned aerial vehicle meets a preset inspection condition.
8. The system of claim 1, further comprising:
the airport cover opening device is connected with the airport control device and used for opening an airport cabin cover of the unmanned aerial vehicle airport when receiving a cover opening control instruction sent by the airport control device;
the uncovering control instruction is sent by the airport control device when the unmanned aerial vehicle inspection instruction sent by the airport monitoring device is received or when the takeoff request message sent by the unmanned aerial vehicle control device is received.
9. The system of claim 8, further comprising:
the unmanned aerial vehicle righting device is connected with the airport control device and used for removing a fixing module used for fixing the unmanned aerial vehicle in the unmanned aerial vehicle righting device when a righting removing instruction sent by the airport control device is received;
the righting relieving instruction is sent by the airport control device when the unmanned aerial vehicle inspection instruction sent by the airport monitoring device is received or the takeoff request message sent by the unmanned aerial vehicle control device is received.
10. The system of claim 9, wherein the airport control device is further configured to:
when the takeoff request message sent by the unmanned aerial vehicle control device is received, detecting whether an airport cabin cover of the unmanned aerial vehicle is opened or not and whether a fixing module used for fixing the unmanned aerial vehicle in the unmanned aerial vehicle righting device is released or not;
and if the airport bin cover is opened and the fixed module is released, sending a take-off instruction to the unmanned aerial vehicle control device.
11. The system of claim 1, wherein the unmanned aerial vehicle control device is specifically configured to:
performing self-checking on each sensor in the unmanned aerial vehicle based on a preset self-checking program;
if the self-checking problem does not exist, the number of the positioning satellites currently received is obtained, and when the number of the positioning satellites currently received is larger than the preset number, the unmanned aerial vehicle is determined to meet the preset takeoff condition.
12. The system of claim 11, further comprising:
with the satellite positioning device that unmanned aerial vehicle controlling means connects for: and carrying out satellite positioning detection when receiving a satellite quantity detection instruction sent by the unmanned aerial vehicle control device, acquiring the quantity of currently received positioning satellites, and sending the quantity of currently received positioning satellites to the unmanned aerial vehicle control device.
13. The system of claim 1, further comprising: the system comprises a camera device, an image transmission device and a ground-end image receiving device, wherein the image transmission device and the ground-end image receiving device are connected with the camera device;
the camera device is used for collecting an inspection image and sending the inspection image to the image transmission device;
the image transmission device is used for transmitting the received patrol inspection image to the ground end image receiving device;
the ground-side image receiving device is used for storing the received patrol inspection image.
14. The system of claim 2, wherein the airport control device is further configured to:
when the unmanned aerial vehicle inspection is detected to finish landing, sending a communication control instruction to the contact control device so that the contact control device moves based on the communication control instruction to communicate the airport control device with the battery device;
and sending a power-off instruction to the battery device to stop the battery device providing electric quantity for the unmanned aerial vehicle control device.
15. The system of claim 14, further comprising: the charging device is connected with the airport control device and used for charging the unmanned aerial vehicle;
correspondingly, the airport control apparatus is further configured to: sending a second electric quantity information acquisition request to the battery device to acquire second electric quantity information of the unmanned aerial vehicle acquired by the battery device;
when detecting that the electric quantity value in the second electric quantity information is smaller than a second preset electric quantity value, controlling the charging device to charge the unmanned aerial vehicle, and stopping charging until the electric quantity value of the unmanned aerial vehicle is equal to a third preset electric quantity value;
and after the charging is stopped, sending a disconnection control command to the contact control device to disconnect the communication between the airport control device and the battery device.
16. The inspection method is characterized by being applied to an airport control device and comprising the following steps:
when an unmanned aerial vehicle starting instruction sent by an airport monitoring device is received, whether the unmanned aerial vehicle meets a preset routing inspection condition is detected;
when the unmanned aerial vehicle is detected to meet a preset inspection condition, transmitting an inspection request message to the airport monitoring device;
when an inspection instruction sent by the airport monitoring device based on the inspection request message is received, triggering an unmanned aerial vehicle control device to detect whether the unmanned aerial vehicle meets a preset take-off condition, so that the unmanned aerial vehicle control device sends a take-off request message to the airport control device when detecting that the unmanned aerial vehicle meets the preset take-off condition;
when the takeoff request message is received, whether an unmanned aerial vehicle airport meets a preset quasi-flying condition is detected, and when the unmanned aerial vehicle airport meets the preset quasi-flying condition is detected, a takeoff instruction is sent to the unmanned aerial vehicle control device, so that the unmanned aerial vehicle control device controls the unmanned aerial vehicle to take off and patrol based on a preset patrol route.
17. A polling method is characterized by being applied to an unmanned aerial vehicle control device and comprising the following steps:
when the trigger operation of the airport control device is detected, whether the unmanned aerial vehicle meets a preset takeoff condition is detected;
when the unmanned aerial vehicle is detected to meet a preset take-off condition, sending a take-off request message to the airport control device;
and when a take-off instruction sent by the airport control device based on the take-off request message is received, the unmanned aerial vehicle is controlled to take off and is patrolled based on a preset patrol route.
18. An airport control apparatus, comprising:
the first detection module is used for detecting whether the unmanned aerial vehicle meets a preset inspection condition or not when receiving an unmanned aerial vehicle starting instruction sent by the airport monitoring device;
the inspection request message sending module is used for sending an inspection request message to the airport monitoring device when the unmanned aerial vehicle is detected to meet the preset inspection condition;
the trigger module is used for triggering the unmanned aerial vehicle control device to detect whether the unmanned aerial vehicle meets a preset take-off condition or not when receiving a routing inspection instruction sent by the airport monitoring device based on the routing inspection request message, so that the unmanned aerial vehicle control device sends a take-off request message to the airport control device when detecting that the unmanned aerial vehicle meets the preset take-off condition;
and the take-off instruction sending module is used for detecting whether the airport of the unmanned aerial vehicle meets a preset quasi-flying condition or not when receiving the take-off request message, and sending a take-off instruction to the unmanned aerial vehicle control device when detecting that the airport of the unmanned aerial vehicle meets the preset quasi-flying condition, so that the unmanned aerial vehicle control device controls the unmanned aerial vehicle to take off and patrol based on a preset patrol route.
19. An unmanned aerial vehicle controlling means, its characterized in that includes:
the second detection module is used for detecting whether the unmanned aerial vehicle meets a preset takeoff condition or not when the trigger operation of the airport control device is detected;
a take-off request message sending module, configured to send a take-off request message to the airport control device when it is detected that the unmanned aerial vehicle meets a preset take-off condition;
and the inspection control module is used for controlling the unmanned aerial vehicle to take off and performing inspection based on a preset inspection route when a take-off instruction sent by the airport control device based on the take-off request message is received.
20. An apparatus, characterized in that the apparatus comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the inspection method of claim 16 or 17.
21. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the inspection method according to claim 16 or 17.
CN201911303904.0A 2019-10-28 2019-12-17 Inspection system, method, control device, equipment and storage medium Pending CN111026156A (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN201911303904.0A CN111026156A (en) 2019-12-17 2019-12-17 Inspection system, method, control device, equipment and storage medium
US17/772,063 US20220396373A1 (en) 2019-10-28 2020-09-18 Unmanned aerial vehicle airport, unmanned aerial vehicle system, tour inspection system and unmanned aerial vehicle cruise system
KR1020227018097A KR20220090563A (en) 2019-10-28 2020-09-18 Drone airports, drone systems, tour inspection systems and drone cruise systems
JP2022525066A JP2023501187A (en) 2019-10-28 2020-09-18 Unmanned Aerial Airports, Unmanned Aerial Systems, and Unmanned Aerial Cruise Systems
EP20881433.5A EP4053021A4 (en) 2019-10-28 2020-09-18 Unmanned aerial vehicle airport, unmanned aerial vehicle system, patrol inspection system, method, control apparatus, device, storage medium, and unmanned aerial vehicle cruising system
PCT/CN2020/116198 WO2021082794A1 (en) 2019-10-28 2020-09-18 Unmanned aerial vehicle airport, unmanned aerial vehicle system, patrol inspection system, method, control apparatus, device, storage medium, and unmanned aerial vehicle cruising system

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