CN111413999A - Safety inspection method based on unmanned aerial vehicle - Google Patents
Safety inspection method based on unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to a safety inspection method based on an unmanned aerial vehicle, which is applied to a first unmanned aerial vehicle, a second unmanned aerial vehicle, a standby unmanned aerial vehicle, a monitoring platform and an unmanned aerial vehicle charging platform, and comprises the steps that the first unmanned aerial vehicle and the second unmanned aerial vehicle acquire a monitoring path and flight parameters; the first unmanned aerial vehicle and the second unmanned aerial vehicle circularly carry out safety inspection according to the monitoring path; when the electric quantity of the first unmanned aerial vehicle is insufficient, charging information is sent to an unmanned aerial vehicle charging platform; when the first unmanned machine reaches the unmanned machine charging platform for charging, the unmanned machine charging platform releases the standby unmanned machine to replace the first unmanned machine; the standby unmanned aerial vehicle acquires a monitoring path and performs safety inspection according to the monitoring path; the first unmanned aerial vehicle and/or the second unmanned aerial vehicle send early warning information to the monitoring platform according to the collected monitoring information, and the early warning signal comprises early warning position information and early warning image information. The application can circularly carry out safety monitoring, can adjust the monitoring interval of a specific monitoring position, and improves the monitoring efficiency.
Description
Technical Field
The invention relates to the technical field of safety monitoring, in particular to a safety inspection method based on an unmanned aerial vehicle.
Background
Along with the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicle's function is more and more powerful, and unmanned aerial vehicle's application also is more and more extensive, for example electric power is patrolled and examined, movie & TV drama is shot, the scenery is shot, the flight performance, environmental monitoring etc..
In some applications where the timeliness is high and the situation is critical, monitoring needs to be performed for a long time, and monitoring needs to be performed for a short time interval in a specific area, for example, in a rainy season every year, a dam needs to be patrolled to eliminate the existence of a break. And unmanned aerial vehicle has the not enough problem of continuation of the journey, and is not strong to long-time, long distance application environment application, and in this kind of application, the infrastructure is incomplete on the basis, and monitoring distance, monitoring time are longer, and current unmanned aerial vehicle's safety monitoring can't deal with.
Therefore, there is a need to provide a safety monitoring method, which is applied to a situation where the monitoring distance and the monitoring time are long, and the monitoring interval of a specific monitoring section can be adjusted.
Disclosure of Invention
In view of the above, the present invention provides a safety inspection method based on an unmanned aerial vehicle, which solves the problem that a small and medium-sized unmanned aerial vehicle in the prior art cannot be applied to a situation where the monitoring distance and the monitoring time are long, and the monitoring interval of a specific monitoring area can be adjusted.
In order to achieve the above object, the present application provides a safety inspection method based on an unmanned aerial vehicle, which is applied to a first unmanned aerial vehicle, a second unmanned aerial vehicle, a standby unmanned aerial vehicle, a monitoring platform and an unmanned aerial vehicle charging platform, and as one of the implementation modes, the safety inspection method based on the unmanned aerial vehicle includes the steps of:
the first unmanned aerial vehicle and the second unmanned aerial vehicle acquire a monitoring path and flight parameters, wherein the flight parameters comprise flight height, flight speed and flight time; the first unmanned aerial vehicle and the second unmanned aerial vehicle circularly carry out safety inspection according to the monitoring path and the flight parameters; when the electric quantity of the first unmanned aerial vehicle is insufficient, charging information is sent to the unmanned aerial vehicle charging platform; when the first unmanned aerial vehicle reaches the unmanned aerial vehicle charging platform for charging, the unmanned aerial vehicle charging platform releases the standby unmanned aerial vehicle to replace the first unmanned aerial vehicle; the standby unmanned aerial vehicle acquires the monitoring path and carries out safety inspection according to the monitoring path; the first unmanned aerial vehicle and/or the second unmanned aerial vehicle send early warning information to the monitoring platform according to the collected monitoring information, and the early warning signal comprises early warning position information and early warning image information.
As one embodiment, before the step of acquiring the monitoring path and the flight parameters by the first drone and the second drone, the method includes: the monitoring platform establishes communication connection with the first unmanned aerial vehicle and the second unmanned aerial vehicle; the monitoring platform sets the monitoring path; the unmanned aerial vehicle charging platform is in communication connection with the first unmanned aerial vehicle and the second unmanned aerial vehicle.
In one embodiment, the monitoring platform sets the monitoring path through a navigation map, and the monitoring path is set along a dam.
As an embodiment, the step of performing the security patrol according to the monitoring path cycle by the first drone and the second drone includes: the first unmanned machine starts to carry out safety inspection from the initial end of the monitoring path; when the first unmanned aerial vehicle reaches the tail end of the monitoring path, the first unmanned aerial vehicle sends notification information to the second unmanned aerial vehicle so that the second unmanned aerial vehicle can perform safety inspection from the initial end of the monitoring path.
As one embodiment, the step of acquiring the monitoring path and the flight parameter by the standby unmanned aerial vehicle, and performing safety inspection according to the monitoring path includes: the standby unmanned aerial vehicle is in communication connection with the monitoring platform, the monitoring platform sends the monitoring path and the monitoring time to the standby unmanned aerial vehicle, and the monitoring time is the remaining flight time of the first unmanned aerial vehicle.
As an embodiment, after the step of sending charging information to the charging platform of the unmanned aerial vehicle when the first unmanned aerial vehicle is insufficient in power, the method includes: when the unmanned aerial vehicle charging platform receives the charging information, the unmanned aerial vehicle charging platform sends a charging position number to the first unmanned aerial vehicle; and the first unmanned machine descends according to the charging position number and carries out charging.
As an implementation manner, in the step of sending the warning information to the monitoring platform by the first drone and/or the second drone according to the monitoring information, the method includes: the first unmanned aerial vehicle and/or the second unmanned aerial vehicle acquire surface images of two sides of a dam on the monitoring path, perform image analysis on the surface images and detect whether a body of the dam has a crack or a through channel through infrared imaging; the first unmanned aerial vehicle and/or the second unmanned aerial vehicle compare the surface texture features obtained by image analysis with the ripple features of the water surface; and when the surface texture features are consistent with the ripple features of the water surface and the body of the dam is detected to have the cracks or the through channels, sending early warning information to the monitoring platform.
As an implementation manner, in the step of sending the warning information to the monitoring platform by the first drone and/or the second drone according to the monitoring information, the method includes: the first unmanned aerial vehicle and/or the second unmanned aerial vehicle acquire surface images of two sides of a dam on the monitoring path, perform image analysis on the surface images and detect whether a body of the dam has a crack or a through channel through infrared imaging; the first unmanned aerial vehicle and/or the second unmanned aerial vehicle compare the surface spectral characteristics obtained by the image analysis with the water surface simulation spectral characteristics; and when the surface spectral characteristics are consistent with the water surface simulation spectral characteristics and the body of the dam is detected to have the crack or the through channel, sending early warning information to the monitoring platform.
As one embodiment, the step of performing the security patrol cyclically by the first drone and the second drone according to the monitoring path includes; the first unmanned aerial vehicle and/or the second unmanned aerial vehicle detect whether an object exists in a safe flight range of the body in real time; and when the existence of the object is detected, corresponding obstacle avoidance measures are taken.
As an implementation manner, after the step of sending the warning information to the monitoring platform by the first unmanned aerial vehicle and/or the second unmanned aerial vehicle according to the monitoring information, the method includes: the monitoring platform sends hovering signals to the first unmanned aerial vehicle and the second unmanned aerial vehicle after receiving the early warning information; the monitoring platform is in video communication with the unmanned aerial vehicle which sends the early warning signal; the unmanned aerial vehicle sending the early warning signal monitors the corresponding angle according to the voice command received through video communication; after the monitoring platform confirms the early warning information, sending a continuous monitoring signal to the first unmanned aerial vehicle and the second unmanned aerial vehicle; the first unmanned aerial vehicle and the second unmanned aerial vehicle transmit the early warning information to each other and store the early warning information for a specific time.
The application provides a safe inspection method based on unmanned aerial vehicle solves the problem that in the prior art, small and medium-sized unmanned aerial vehicles cannot be applied to the situation that the monitoring distance is long, the monitoring interval of a specific monitoring section can be adjusted, and long-time and high-efficiency safe inspection based on unmanned aerial vehicles is realized.
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Fig. 1 is a schematic flow chart of a safety inspection method based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vehicle to which the safety inspection method based on the unmanned aerial vehicle according to the embodiment of the present invention is applied.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic flow chart of a safety inspection method based on an unmanned aerial vehicle according to an embodiment of the present invention.
It should be particularly noted that the safety inspection method based on the unmanned aerial vehicle provided by the embodiment of the present invention is applied to a first unmanned aerial vehicle, a second unmanned aerial vehicle, a standby unmanned aerial vehicle, a monitoring platform and an unmanned aerial vehicle charging platform, and includes, but is not limited to, the following steps:
step S1: the method comprises the steps that a first unmanned aerial vehicle and a second unmanned aerial vehicle acquire a monitoring path and flight parameters, wherein the flight parameters comprise flight height, flight speed and flight time;
it should be noted that, there is no limitation that only two drones perform the inspection by flying simultaneously in the method, and there may be 3 or more drones, and the monitoring paths and the flying parameters of the first drone and the second drone are not limited to be the same, for example, when there are 3 drones performing the inspection simultaneously, the same monitoring path and different flying times may be set, where the flying time includes not only the total flying time but also the starting time of flying, for example, the first drone starts from the starting point 9 of the monitoring path, the second drone starts from the starting point 9 of the monitoring path 15, the third drone starts from the starting point 9 of the monitoring path 30, and the three drones perform the inspection by circulating to and fro at the same flying speed at different heights or the same height on the monitoring path. For example, three drones can cycle back and forth to patrol in different sections of the monitoring path. The monitoring path, the flight altitude, the flight speed and the flight time can thus be set flexibly.
In an embodiment, before the step S1, the acquiring, by the first drone and the second drone, the monitoring path and the flight parameters may further include: the monitoring platform establishes communication connection with the first unmanned aerial vehicle and the second unmanned aerial vehicle; the monitoring platform sets the monitoring path; the unmanned aerial vehicle charging platform is in communication connection with the first unmanned aerial vehicle and the second unmanned aerial vehicle.
Specifically, in the monitoring platform with first unmanned aerial vehicle with in the second unmanned aerial vehicle establishes communication connection, the monitoring platform can be the mobile unit who possesses the video display function to possess real-time communication function, for example 3G, 4G or 5G long distance communication technique, unmanned aerial vehicle possesses long distance communication function equally, after establishing communication connection between mobile unit and the unmanned aerial vehicle, can set up the monitoring route through the mobile unit, also in the era of everything interconnection, equally through long distance communication technique or medium and short distance communication technique, for example zigBee or bluetooth between the unmanned aerial vehicle, carry out communication connection.
In an embodiment, when the monitoring platform sets the monitoring path, the monitoring path may be visually set through a navigation map on the monitoring platform, it should be noted that, when the monitoring path is visually set through the navigation map, the monitoring path is not limited to a path in a single direction, and the monitoring path may be input by drawing a path line on the navigation map, for example, drawing an S-shaped path around the monitoring path, or drawing a Z-shaped path, and the unmanned aerial vehicle performs inspection by controlling a flight direction and a flight speed through a route map.
Step S2: and the first unmanned aerial vehicle and the second unmanned aerial vehicle circularly carry out safety inspection according to the monitoring path and the flight parameters.
The first drone and the second drone cyclically perform safety inspection according to the monitoring path and the flight parameters, as described above, the monitoring path and the flight parameters can be flexibly set, and the first drone and the second drone are already in communication connection, in one embodiment, the first drone performs safety inspection from an initial end of the monitoring path; when the first unmanned aerial vehicle reaches the tail end of the monitoring path, the first unmanned aerial vehicle sends notification information to the second unmanned aerial vehicle so that the second unmanned aerial vehicle can perform safety inspection from the initial end of the monitoring path. So set up, can make first unmanned aerial vehicle with second unmanned aerial vehicle is in the relative flight of initiating terminal and the tail end on control path is patrolled and examined to this shortens the control interval on control path.
In an embodiment, in the step of performing the security patrol according to the monitoring path cycle by the first drone and the second drone, the method further includes: the first unmanned aerial vehicle and/or the second unmanned aerial vehicle detect whether an object exists in a safe flight range of the body in real time; and when the existence of the object is detected, corresponding obstacle avoidance measures are taken.
It should be noted that, first unmanned aerial vehicle with second unmanned aerial vehicle can only have an unmanned aerial vehicle to carry out the real-time detection of barrier, and unmanned aerial vehicle can carry out the detection of barrier around when flying through radar system, image processing system, can avoid through temporarily changing flying height or/flight direction detecting the barrier, so can avoid when flying in same control route in opposite directions, bump between the unmanned aerial vehicle, ensure unmanned aerial vehicle's safety and patrol and examine.
On the other hand, when the monitoring path is in the water area, in order to avoid the damage of the unmanned aerial vehicle caused by falling into the water, the unmanned aerial vehicle may further take a safeguard measure for safe landing, for example, in another embodiment, in the step of performing the safety inspection by the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the monitoring path cycle, the method further includes: the first unmanned aerial vehicle and/or the second unmanned aerial vehicle detect whether an object exists in a safe flight range of the body in real time; when an object is detected to exist, corresponding obstacle avoidance measures are taken; the first unmanned aerial vehicle and the second unmanned aerial vehicle detect whether a flight control function is invalid in real time; when the failure of the flight control function is detected, starting an image detection function to detect the lower geographical condition; if the lower part is judged to be the water surface, starting a water surface landing function, and sending a position signal to the monitoring platform and the unmanned aerial vehicle approaching in the flight range; if the lower part is judged to be the ground, then the buffering parachute function is opened to release the buffering support and the parachute, and a position signal is sent to the monitoring platform and the unmanned aerial vehicle approaching in the flight range.
Step S3: when the first unmanned aerial vehicle electric quantity is not enough, charging information is sent to the unmanned aerial vehicle charging platform.
It should be noted that, the main body used in the power detection is only for the sake of brevity and comprehensiveness, and does not mean that only the first drone performs power detection, where the first drone represents all drones performing polling tasks. Therefore, in step S3, in the step of sending charging information to the charging platform of the drone when the first drone battery is insufficient, the steps include, but are not limited to: the first unmanned machine detects the electric quantity in real time; when the detected electric quantity is smaller than a preset initial threshold value, the first unmanned aerial vehicle sends the charging information to the unmanned aerial vehicle charging platform, wherein the initial threshold value can maintain that the first unmanned aerial vehicle flies to the unmanned aerial vehicle charging platform from the farthest end of the unmanned aerial vehicle charging platform on the monitoring path.
In one embodiment, step S3: when the first unmanned aerial vehicle electric quantity is not enough, send charging information to after the step of unmanned aerial vehicle charging platform, include: when the unmanned aerial vehicle charging platform receives the charging information, the unmanned aerial vehicle charging platform sends a charging position number to the first unmanned aerial vehicle; and the first unmanned machine descends according to the charging position number and carries out charging.
It should be noted that the unmanned aerial vehicle charging end on the unmanned aerial vehicle charging platform has a safety precaution function, for example, a charging locking function, a rainproof function, a battery performance detection function, an automatic battery replacement function, and the like. When unmanned aerial vehicle charging platform receives the information of charging, unmanned aerial vehicle charging platform send the position number of charging extremely first unmanned aerial vehicle can prevent when many unmanned aerial vehicles charge simultaneously through sending the position number of charging, the confusion of the position of charging. Unmanned aerial vehicle charging platform receives during the information of charging, start the reserve unmanned aerial vehicle on the charging platform, nevertheless, when waiting to charge unmanned aerial vehicle and not reacing the charging platform, reserve unmanned aerial vehicle still is in the locking state, so can guarantee the order of patrolling and examining of each unmanned aerial vehicle in the control route.
Step S4: when the first unmanned aerial vehicle arrives the unmanned aerial vehicle charging platform charges, the unmanned aerial vehicle charging platform releases the standby unmanned aerial vehicle to replace the first unmanned aerial vehicle.
Step S5: and the standby unmanned aerial vehicle acquires the monitoring path and carries out safety inspection according to the monitoring path.
It should be noted that the spare drone is a substitute for the first drone, so the monitoring path and the flight parameters of the spare drone need to be consistent with the first drone to be charged, but the flight time should be the remaining flight time of the first drone to be charged, so the flight time can be counted down as a variable, in an embodiment, step S5, the spare drone acquires the monitoring path and performs the safety inspection according to the monitoring path, and the spare drone further includes: the standby unmanned aerial vehicle is in communication connection with the monitoring platform, the monitoring platform sends the monitoring path and the monitoring time to the standby unmanned aerial vehicle, and the monitoring time is the remaining flight time of the first unmanned aerial vehicle. Of course, flight data transmission can be performed between the unmanned aerial vehicles, in addition to flight data transmission between the standby unmanned aerial vehicle and the monitoring platform. For example, in an embodiment, in step S5, the step of the standby drone acquiring the monitoring path and performing security inspection according to the monitoring path further includes: the spare unmanned aerial vehicle is in communication connection with the monitoring platform and the first unmanned aerial vehicle, the first unmanned aerial vehicle sends the monitoring path and the monitoring time to the spare unmanned aerial vehicle, and the monitoring time is the remaining flight time of the first unmanned aerial vehicle.
Step S6: the first unmanned aerial vehicle and/or the second unmanned aerial vehicle send early warning information to the monitoring platform according to the collected monitoring information, and the early warning signal comprises early warning position information and early warning image information.
It should be noted that the safety inspection method based on the unmanned aerial vehicle provided by the invention is mainly used for monitoring areas with long monitoring distance, long monitoring time and incomplete basic auxiliary facilities, such as large river dams, and monitoring whether the dams have the possibility of bank break. Therefore, in an embodiment, in step S6, the step of sending the warning information to the monitoring platform by the first drone and/or the second drone according to the collected monitoring information includes: the first unmanned aerial vehicle and/or the second unmanned aerial vehicle acquire surface images of two sides of a dam on the monitoring path, perform image analysis on the surface images and detect whether a body of the dam has a crack or a through channel through infrared imaging; the first unmanned aerial vehicle and/or the second unmanned aerial vehicle compare the surface texture features obtained by image analysis with the ripple features of the water surface; and when the surface texture features are consistent with the ripple features of the water surface and the body of the dam is detected to have the cracks or the through channels, sending early warning information to the monitoring platform.
In another embodiment, in step S6, the step of sending warning information to the monitoring platform by the first drone and/or the second drone according to the collected monitoring information includes: the first unmanned aerial vehicle and/or the second unmanned aerial vehicle acquire surface images of two sides of a dam on the monitoring path, perform image analysis on the surface images and detect whether a body of the dam has a crack or a through channel through infrared imaging; the first unmanned aerial vehicle and/or the second unmanned aerial vehicle compare the surface spectral characteristics obtained by the image analysis with the water surface simulation spectral characteristics; and when the surface spectral characteristics are consistent with the water surface simulation spectral characteristics and the body of the dam is detected to have the crack or the through channel, sending early warning information to the monitoring platform.
It should be particularly noted that, generally, rivers are arranged on two sides of a dam, and a leveling land is arranged on the other side of the dam, so that accumulated water exists on one side of a plain in rainy days, and further the unmanned aerial vehicle can be misjudged, therefore, the method comprehensively judges the existence of the breach by adopting an image analysis technology and an infrared imaging technology, and improves the accuracy of monitoring.
Of course, the present invention may perform a manual intervention for determination, and in an embodiment, step 6, after the step of sending the warning information to the monitoring platform by the first drone and/or the second drone according to the monitoring information, includes: the monitoring platform sends hovering signals to the first unmanned aerial vehicle and the second unmanned aerial vehicle after receiving the early warning information; the monitoring platform is in video communication with the unmanned aerial vehicle which sends the early warning signal; the unmanned aerial vehicle sending the early warning signal monitors the corresponding angle according to the voice command received through video communication; after the monitoring platform confirms the early warning information, sending a continuous monitoring signal to the first unmanned aerial vehicle and the second unmanned aerial vehicle; the first unmanned aerial vehicle and the second unmanned aerial vehicle transmit the early warning information to each other and store the early warning information for a specific time.
For better explanation, the monitoring platform is taken as an example of an intelligent cabin of an automobile, please refer to fig. 2, and fig. 2 is a schematic structural diagram of a safety inspection method based on an unmanned aerial vehicle applied to a vehicle according to an embodiment of the present invention.
After the intelligent cockpit 10 in the vehicle receives the early warning information that first unmanned aerial vehicle 13 sent through long-distance wireless communication technology, the intelligent cockpit sends the signal of hovering to TBOX11 through the USB bus, TBOX11 receives behind the signal of hovering through the inside long-distance wireless communication technology of TBOX11, such as 4G communication module, send to the inside 4G communication module of first unmanned aerial vehicle 12 and second unmanned aerial vehicle 14, communicate through cloud server 12 between the 4G communication module, first unmanned aerial vehicle 13 and second unmanned aerial vehicle 14 carry out the flight of hovering after receiving the instruction of hovering, it is worth explaining, the unmanned aerial vehicle that here carries out the task of patrolling and examining all need carry out the flight of hovering, in order to ensure the flight order on the route of patrolling and examining. After the unmanned aerial vehicle hovers, the intelligent cabin 10 sends video transmission signals to the first unmanned aerial vehicle 13 which sends early warning signals, the first unmanned aerial vehicle 13 which sends early warning signals receives the video transmission signals and then carries out real-time video communication or selective picture transmission to the intelligent cabin 10, and related personnel can judge the breach through the video picture played by the intelligent cabin 10. After the relevant personnel determine the early warning information through the intelligent cabin 10, the monitoring signals can be input to the first unmanned aerial vehicle 13 and the second unmanned aerial vehicle 14 through voice or characters, the early warning information is mutually transmitted between the first unmanned aerial vehicle 13 and the second unmanned aerial vehicle 14, and the time is kept for a specific time, such as 24 hours, so that the unmanned aerial vehicles can be prevented from sending out repeated early warning signals in the same place within a specific time period. It is noted that the signal transmission in fig. 2 is represented by a dashed line.
To sum up, this embodiment has solved and has solved that small and medium-size unmanned aerial vehicle can't be applied to monitoring distance and monitoring time longer in the prior art, the problem of the scene that the control interval of concrete control section can be adjusted has realized long-time, high efficiency safety inspection based on unmanned aerial vehicle.
It should be noted that, in this embodiment, the intelligent cockpit and the cloud server may both adopt a WIFI technology or a 5G technology, for example, a 5G car networking network is used to implement network connection between each other, the 5G technology adopted in this embodiment may be a technology oriented to scenization, the application utilizes the 5G technology to play a key support role for a vehicle and an unmanned aerial vehicle, and it simultaneously implements a contact person, a contact object, or a contact vehicle, and it may specifically adopt the following three typical application scenarios to constitute.
The first is eMBB (enhanced Mobile Broadband), so that the user experience rate is 0.1-1 gpbs, the peak rate is 10gbps, and the traffic density is 10Tbps/km 2;
for the second ultra-reliable low-delay communication, the main index which can be realized by the method is that the end-to-end time delay is in the ms (millisecond) level; the reliability is close to 100%;
the third is mMTC (mass machine type communication), and the main index which can be realized by the application is the connection number density, 100 ten thousand other terminals are connected per square kilometer, and the connection number density is 10^6/km 2.
Through the mode, this application utilizes the characteristics of the super-reliable of 5G technique, low time delay, combine for example radar and camera etc. just can give the vehicle, unmanned aerial vehicle provides the ability that shows, can realize interdynamic with vehicle and unmanned aerial vehicle, utilize the interactive perception function of 5G technique simultaneously, the user can do an output to external environment, can not light can detect the state, can also do some feedbacks etc. in addition, this embodiment vehicle TBOX system, Telematics BOX, for short on-vehicle TBOX or remote information processor.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention. The various features described in the foregoing detailed description may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
Claims (10)
1. The safety inspection method based on the unmanned aerial vehicle is applied to a first unmanned aerial vehicle, a second unmanned aerial vehicle, a standby unmanned aerial vehicle, a monitoring platform and an unmanned aerial vehicle charging platform, and comprises the following steps:
the first unmanned aerial vehicle and the second unmanned aerial vehicle acquire a monitoring path and flight parameters, wherein the flight parameters comprise flight height, flight speed and flight time;
the first unmanned aerial vehicle and the second unmanned aerial vehicle circularly carry out safety inspection according to the monitoring path and the flight parameters;
when the electric quantity of the first unmanned aerial vehicle is insufficient, charging information is sent to the unmanned aerial vehicle charging platform;
when the first unmanned aerial vehicle reaches the unmanned aerial vehicle charging platform for charging, the unmanned aerial vehicle charging platform releases the standby unmanned aerial vehicle to replace the first unmanned aerial vehicle;
the standby unmanned aerial vehicle acquires the monitoring path and the flight parameters and carries out safety inspection according to the monitoring path;
the first unmanned aerial vehicle and/or the second unmanned aerial vehicle send early warning information to the monitoring platform according to the collected monitoring information, and the early warning signal comprises early warning position information and early warning image information.
2. The unmanned-aerial-vehicle-based security inspection method according to claim 1, wherein prior to the steps of the first and second unmanned aerial vehicles obtaining the monitored path and flight parameters, comprising:
the monitoring platform establishes communication connection with the first unmanned aerial vehicle and the second unmanned aerial vehicle;
the monitoring platform sets the monitoring path;
the unmanned aerial vehicle charging platform is in communication connection with the first unmanned aerial vehicle and the second unmanned aerial vehicle.
3. The unmanned aerial vehicle-based security inspection method of claim 2, wherein the monitoring platform sets the monitoring path through a navigation map, the monitoring path extending along a dike.
4. The unmanned aerial vehicle-based security inspection method of claim 1, wherein the step of cyclically performing security inspection by the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the monitoring path comprises:
the first unmanned machine starts to carry out safety inspection from the initial end of the monitoring path;
when the first unmanned aerial vehicle reaches the tail end of the monitoring path, the first unmanned aerial vehicle sends notification information to the second unmanned aerial vehicle so that the second unmanned aerial vehicle can perform safety inspection from the initial end of the monitoring path.
5. The unmanned aerial vehicle-based safety inspection method according to claim 1, wherein the step of acquiring the monitoring path and the flight parameters by the standby unmanned aerial vehicle and performing safety inspection according to the monitoring path comprises:
the standby unmanned aerial vehicle is in communication connection with the monitoring platform, the monitoring platform sends the monitoring path and the monitoring time to the standby unmanned aerial vehicle, and the monitoring time is the remaining flight time of the first unmanned aerial vehicle.
6. The unmanned aerial vehicle-based safety inspection method according to claim 1, wherein after the step of sending charging information to the unmanned aerial vehicle charging platform when the first unmanned aerial vehicle is insufficient in power, the method includes:
when the unmanned aerial vehicle charging platform receives the charging information, the unmanned aerial vehicle charging platform sends a charging position number to the first unmanned aerial vehicle;
and the first unmanned machine descends according to the charging position number and carries out charging.
7. The unmanned aerial vehicle-based security inspection method according to claim 1, wherein in the step of sending the warning information to the monitoring platform by the first unmanned aerial vehicle and/or the second unmanned aerial vehicle according to the monitoring information, the method includes:
the first unmanned aerial vehicle and/or the second unmanned aerial vehicle acquire surface images of two sides of a dam on the monitoring path, perform image analysis on the surface images and detect whether a body of the dam has a crack or a through channel through infrared imaging;
the first unmanned aerial vehicle and/or the second unmanned aerial vehicle compare the surface texture features obtained by image analysis with the ripple features of the water surface;
and when the surface texture features are consistent with the ripple features of the water surface and the body of the dam is detected to have the cracks or the through channels, sending early warning information to the monitoring platform.
8. The unmanned aerial vehicle-based security inspection method according to claim 1, wherein in the step of sending the warning information to the monitoring platform by the first unmanned aerial vehicle and/or the second unmanned aerial vehicle according to the monitoring information, the method includes:
the first unmanned aerial vehicle and/or the second unmanned aerial vehicle acquire surface images of two sides of a dam on the monitoring path, perform image analysis on the surface images and detect whether a body of the dam has a crack or a through channel through infrared imaging;
the first unmanned aerial vehicle and/or the second unmanned aerial vehicle compare the surface spectral characteristics obtained by the image analysis with the water surface simulation spectral characteristics;
and when the surface spectral characteristics are consistent with the water surface simulation spectral characteristics and the body of the dam is detected to have the crack or the through channel, sending early warning information to the monitoring platform.
9. The unmanned aerial vehicle-based security inspection method according to claim 1, wherein in the step of the first unmanned aerial vehicle and the second unmanned aerial vehicle cyclically performing the security inspection according to the monitoring path, the steps include;
the first unmanned aerial vehicle and/or the second unmanned aerial vehicle detect whether an object exists in a safe flight range of the body in real time;
and when the existence of the object is detected, corresponding obstacle avoidance measures are taken.
10. The unmanned aerial vehicle-based security inspection method according to claim 1, wherein after the step of the first unmanned aerial vehicle and/or the second unmanned aerial vehicle sending early warning information to the monitoring platform according to the monitoring information, the method comprises:
the monitoring platform sends hovering signals to the first unmanned aerial vehicle and the second unmanned aerial vehicle after receiving the early warning information;
the monitoring platform is in video communication with the unmanned aerial vehicle which sends the early warning signal;
the unmanned aerial vehicle sending the early warning signal monitors the corresponding angle according to the voice command received through video communication;
after the monitoring platform confirms the early warning information, sending a continuous monitoring signal to the first unmanned aerial vehicle and the second unmanned aerial vehicle;
the first unmanned aerial vehicle and the second unmanned aerial vehicle transmit the early warning information to each other and store the early warning information for a specific time.
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