CN112235355A - Highway road administration unmanned aerial vehicle inspection method and system - Google Patents
Highway road administration unmanned aerial vehicle inspection method and system Download PDFInfo
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Abstract
The application discloses a method and a system for patrolling a highway road administration unmanned aerial vehicle, wherein the method comprises the following steps: controlling the unmanned aerial vehicle to fly to a mission point; receiving task data of the unmanned aerial vehicle at the task point, wherein the task data comprises position coordinates of the task point, course angle data of the unmanned aerial vehicle and holder angle data; generating a curing route according to the task data; receiving an execution instruction of a highway road administration patrol task; and controlling the unmanned aerial vehicle to execute the highway road patrol task according to the execution instruction and the curing route. According to the embodiment of the application, the solidification route of the unmanned aerial vehicle is generated, the unmanned aerial vehicle is controlled to execute the patrol task through the execution instruction of the highway road administration patrol task and the solidification route, so that patrol personnel do not need to manually operate the unmanned aerial vehicle in the process of each patrol, the automatic highway road administration patrol process is realized, and the working efficiency is improved. But this application wide application in unmanned air vehicle technique field.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a system for patrolling a highway road administration unmanned aerial vehicle.
Background
Interpretation of terms:
B/S: Browser/Server is called Browser/Server mode for short, and is a network structure mode. The working principle adopts the working mode of browser request and server response.
RTK: real-time kinematic is abbreviated as Real-time kinematic. The real-time dynamic carrier phase differential technology is a differential technology for processing the observed quantity of carrier phases of two measuring stations in real time, and the carrier phases acquired by a reference station are sent to a user receiver to solve and calculate coordinates. Which is a commonly used satellite positioning measurement method.
Road administration patrol is an effective management means for protecting road safety, serving public trips and strengthening team self construction. By inspection, the road condition is comprehensively known in real time so as to find and process problems in time.
Unmanned Aerial vehicle (uav) refers to an aircraft that does not carry an operator and can fly autonomously or be remotely piloted, and is an important vehicle for artificial intelligence.
At present, when using unmanned aerial vehicle to carry out road administration inspection, its implementation mainly is through manual operation unmanned aerial vehicle to suitable position, and the position image data is patrolled and examined in the acquisition of adjustment cloud platform angle, requires highly to operating personnel, and degree of automation is low, and inspection efficiency is not high.
Disclosure of Invention
To solve one of the above technical problems to some extent, the present invention aims to: the method and the system for patrolling the highway road administration unmanned aerial vehicle can effectively reduce manual operation processes, realize an automatic highway road administration patrolling process to a greater extent and further improve patrolling efficiency.
In a first aspect, an embodiment of the present invention provides:
a highway road administration unmanned aerial vehicle inspection method comprises the following steps:
controlling the unmanned aerial vehicle to fly to a mission point;
receiving task data of the unmanned aerial vehicle at the task point, wherein the task data comprises position coordinates of the task point, course angle data of the unmanned aerial vehicle and holder angle data;
generating a curing route according to the task data;
receiving an execution instruction of a highway road administration patrol task;
and controlling the unmanned aerial vehicle to execute the highway road patrol task according to the execution instruction and the curing route.
Further, the control unmanned aerial vehicle flies to the mission point, including:
selecting one of a plurality of target flight routes as a current flight training route;
controlling the unmanned aerial vehicle to fly along the current flight training route;
acquiring environmental information of the unmanned aerial vehicle flying on the current flight training route;
and adjusting the current flight training route in the plurality of target flight routes according to the environment information.
Further, the receiving task data of the unmanned aerial vehicle at the task point, where the task data includes position coordinates of the task point, course angle data of the unmanned aerial vehicle, and pan-tilt angle data, includes:
receiving first real-time position information and course angle data of the unmanned aerial vehicle when the unmanned aerial vehicle flies to the task point;
matching the first real-time location information with a plurality of target locations;
adjusting a camera shooting angle on the unmanned aerial vehicle according to the matching result;
and receiving the tripod head angle data after the camera shooting angle on the unmanned aerial vehicle is determined to be adjusted.
Further, the matching the first real-time location information with a plurality of target locations includes:
acquiring a closest target position from the plurality of target positions according to the first real-time position information;
calculating a first real-time distance value between the first real-time position information and the closest target position;
and after the first real-time distance value is determined to be within the preset range, ending the current position information matching process.
Further, the generating a curing route according to the task data specifically includes:
and generating a curing route after determining that the task data of all the task points are received.
Further, the controlling the unmanned aerial vehicle to execute the road administration patrol task according to the execution instruction and the curing route includes:
controlling the unmanned aerial vehicle to fly along the curing route according to the execution instruction;
receiving second real-time position information of the unmanned aerial vehicle during flying of the curing route;
calculating a second real-time distance value between the second real-time position information and a target position in the curing route;
after the second real-time distance value is determined to be within a preset range, controlling the flight speed of the unmanned aerial vehicle and adjusting the shooting angle of a camera on the unmanned aerial vehicle to a target shooting angle;
receiving camera shooting data;
and sending the camera shooting data to a data management platform.
In a second aspect, an embodiment of the present invention provides:
the utility model provides a highway road administration unmanned aerial vehicle system of patrolling, is including removing end operating system, unmanned aerial vehicle, data management platform and server, remove end operating system, unmanned aerial vehicle and data management platform all with the server communication, the server is used for carrying out following step:
controlling the unmanned aerial vehicle to fly to a mission point;
receiving task data of the unmanned aerial vehicle at the task point, wherein the task data comprises position coordinates of the task point, course angle data of the unmanned aerial vehicle and holder angle data;
generating a curing route according to the task data;
receiving an execution instruction of a highway road administration patrol task;
and controlling the unmanned aerial vehicle to execute the highway road patrol task according to the execution instruction and the curing route.
Further, the data management platform is in a B/S architecture mode.
Further, be equipped with the RTK module on the unmanned aerial vehicle.
In a third aspect, an embodiment of the present invention provides:
a highway road administration unmanned aerial vehicle inspection system, comprising:
at least one memory for storing a program;
at least one processor for loading the program to execute the method for patrolling a road administration unmanned aerial vehicle.
The embodiment of the invention has the beneficial effects that: according to the embodiment of the invention, the unmanned aerial vehicle is controlled to fly to the task point, then the task data of the unmanned aerial vehicle at the task point is generated, the solidified route is generated according to the task data, then the execution instruction of the highway road administration patrol task is received, and finally the unmanned aerial vehicle is controlled to execute the highway road administration patrol task according to the execution instruction and the solidified route, so that the patrol personnel do not need to manually operate the unmanned aerial vehicle in each patrol process, the workload of the patrol personnel is reduced, the automatic highway road administration patrol process is realized to a greater extent, and the working efficiency is improved.
Drawings
Fig. 1 is a flowchart of a method for patrolling a road administration unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a block diagram of a road administration unmanned aerial vehicle inspection system according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.
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 application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
Referring to fig. 1, an embodiment of the present invention provides a method for patrolling a highway road administration unmanned aerial vehicle, and this embodiment is applied to the server side shown in fig. 2, where the server side communicates with a mobile side operating system, an unmanned aerial vehicle, and a data management platform, and the unmanned aerial vehicle may also communicate with the server side through the mobile side operating system. The server side can be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, and can also be a cloud server for providing basic cloud computing services such as cloud service, a cloud database, cloud computing, cloud functions, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN, big data and artificial intelligence platform and the like.
The present embodiment includes steps S11-S15:
s11, controlling the unmanned aerial vehicle to fly to a mission point; the task point is a position to be inspected in a certain inspection process.
In some embodiments, the controlling the drone to fly to the mission point may be implemented by:
selecting one of a plurality of target flight routes as a current flight training route; in practical situations, when two position points are determined, countless paths from the first point to the second point can exist, but among the countless paths, the road conditions of some paths are relatively good, and the path length is relatively short; and the road conditions of some paths are not good, and the path length is long, so that one of the paths with the best comprehensiveness can be selected from the multiple paths to serve as the current flight training path in order to effectively improve the working efficiency of the unmanned aerial vehicle. The evaluation factor with the best comprehensiveness refers to the factors of comprehensively considering road conditions, length and the like on the path. Of course, in some embodiments, weather conditions may also need to be considered. The road condition information in this step is obtained in advance, and it can be extracted from the picture that unmanned aerial vehicle work obtained before and obtained, can also be on-the-spot affirmation.
Controlling the unmanned aerial vehicle to fly along the current flight training route; in the unmanned aerial vehicle training process, the control mode can be manual control, also can be server side control, and can also be manual with server side joint control.
Acquiring environmental information of the unmanned aerial vehicle flying on the current flight training route; the environmental information includes information about obstacles encountered in the flight path, such as trees, bridges, air currents, or mountains.
And adjusting the current flight training route in the plurality of target flight routes according to the environment information. For example, in the flight path training process, when an obstacle exists at a certain point to cause that the unmanned aerial vehicle cannot pass through or the working efficiency of the unmanned aerial vehicle is greatly reduced, another path needs to be selected from a plurality of target flight paths to replace the current flight training path, so that the working efficiency of the unmanned aerial vehicle in the actual working process is improved. The selection of another path from the multiple target flight paths can select a half path of one path to replace the rest half path of the current flight training path. Of course, a whole course path of another path can be selected to replace the current flight training path.
The present embodiment continuously adjusts the current flight training route according to the real-time environment information, so that the last obtained solidification route of the unmanned aerial vehicle is a relatively better route.
S12, receiving task data of the unmanned aerial vehicle at the task point, wherein the task data comprises position coordinates of the task point, course angle data of the unmanned aerial vehicle and holder angle data;
in some embodiments, the receiving task data of the drone at the task point may be performed through steps S121-S123:
s121, receiving first real-time position information and course angle data of the unmanned aerial vehicle when the unmanned aerial vehicle flies to the task point; the first real-time position information refers to the real-time position of the unmanned aerial vehicle in the flight training process. The course angle data is the real-time flight angle of the unmanned aerial vehicle in the flight process.
S122, matching the first real-time position information with a plurality of target positions; this step is to compare the first real-time location information with a plurality of target locations to determine whether there is a target location identical or similar to the first real-time location information among the plurality of target locations, and upon determining that there is a target location, perform step S123.
In some embodiments, the step S122 may be implemented by:
acquiring a closest target position from the plurality of target positions according to the first real-time position information; the closest target position means that the position coordinate information of the target position is the same as or close to the first real-time position information.
Calculating a first real-time distance value between the first real-time position information and the closest target position; the first real-time distance value may be calculated from the spatial coordinate data of the first real-time position information and the spatial coordinate data of the closest target position, and specifically refers to a linear distance between two points.
And after the first real-time distance value is determined to be within the preset range, ending the current position information matching process. The preset range is a preset distance range between two points, such as a range of 0-2m, 0-3m or 0-4 m. After the first real-time distance value is determined to be within the preset range, the current real-time position of the unmanned aerial vehicle is indicated to be the target position or close to the current target position, and then the next target position is continuously judged until the training process of the current flight route is finished.
S123, adjusting a camera shooting angle on the unmanned aerial vehicle according to the matching result; in this step, when it is determined in step S122 that the current real-time position of the unmanned aerial vehicle is the target position or close to the current target position, the shooting angle of the camera on the unmanned aerial vehicle is adjusted, and the shooting angle is adjusted to the target shooting angle. The target shooting angle can be adjusted according to information collected in the subsequent working process. And after the camera shooting angle on the unmanned aerial vehicle is determined to be adjusted, the cradle head angle data are received, so that the camera can accurately acquire the required image or video when the follow-up unmanned aerial vehicle executes the patrol task.
S13, generating a curing route according to the task data; the task data comprises the position information of the task point determined in the flight training process, the course angle data of the unmanned aerial vehicle and the tripod head angle data. This solidification route of a certain inspection within range that this step generated for when the inspection personnel were patrolling this scope, unmanned aerial vehicle can carry out automatic inspection according to this solidification route, thereby reduces the manual control step.
In some embodiments, after determining that the task data of all the task points is received, a solidification route is generated to obtain a full-scale path within the range.
S14, receiving an execution instruction of the road administration patrol task; the execution instruction refers to an instruction which is uploaded by the patrol personnel through the client and used for prompting the unmanned aerial vehicle to execute the patrol task.
And S15, controlling the unmanned aerial vehicle to execute the road administration patrol task according to the execution instruction and the curing route.
In some embodiments, said controlling said drone to perform said highway road patrol mission according to said execution instructions and said cured route comprises:
controlling the unmanned aerial vehicle to fly along the curing route according to the execution instruction;
receiving second real-time position information of the unmanned aerial vehicle during flying of the curing route; the second real-time position information refers to real-time space position coordinates of the unmanned aerial vehicle flying in the curing route.
Calculating a second real-time distance value between the second real-time position information and a target position in the curing route; the second real-time distance value can be obtained by calculating the space position coordinate of the second real-time position information and the space coordinate of the target position, namely calculating the straight-line distance between the two points.
After the second real-time distance value is determined to be within a preset range, controlling the flight speed of the unmanned aerial vehicle and adjusting the shooting angle of a camera on the unmanned aerial vehicle to a target shooting angle; the preset range is a preset distance range between two points, such as a range of 0-2m, 0-3m or 0-4 m. After the second real-time distance value is determined to be within the preset range, the fact that the unmanned aerial vehicle reaches the target position is indicated, the flying speed of the unmanned aerial vehicle needs to be controlled at the moment, and the shooting angle of the camera on the unmanned aerial vehicle is adjusted, so that the camera can acquire images or videos meeting requirements.
Receiving camera shooting data; the shooting data is an image or video shot by the camera at the target position.
And sending the camera shooting data to a data management platform, so that the data management platform carries out data analysis or is convenient for other terminals to call the shooting data.
To sum up, the above embodiment controls the unmanned aerial vehicle to fly to the task point first, then the unmanned aerial vehicle is in the task data of the task point, and generates the solidified route according to the task data, then receives the execution instruction of the highway road administration patrol task, and finally controls the unmanned aerial vehicle to execute the highway road administration patrol task according to the execution instruction and the solidified route, so that the patrol personnel do not need to manually operate the unmanned aerial vehicle in each patrol process, thereby reducing the workload of the patrol personnel, realizing the automatic highway road administration patrol process to a greater extent, and improving the working efficiency.
Referring to fig. 2, an embodiment of the present invention provides a highway road administration unmanned aerial vehicle patrol system, which includes a mobile terminal operating system, an unmanned aerial vehicle, a data management platform, and a server, where the mobile terminal operating system, the unmanned aerial vehicle, and the data management platform are all in communication with the server, and the unmanned aerial vehicle can also communicate with the server through the mobile terminal operating system, and the server is configured to execute the method shown in fig. 1:
s11, controlling the unmanned aerial vehicle to fly to a mission point;
s12, receiving task data of the unmanned aerial vehicle at the task point, wherein the task data comprises position coordinates of the task point, course angle data of the unmanned aerial vehicle and holder angle data;
s13, generating a curing route according to the task data;
s14, receiving an execution instruction of the road administration patrol task;
and S15, controlling the unmanned aerial vehicle to execute the road administration patrol task according to the execution instruction and the curing route.
The contents of the embodiments of the method are all applicable to the embodiments of the system, and the effects achieved by the method of the embodiments of the system are the same as the effects of the embodiments of the method.
In some embodiments, the unmanned aerial vehicle is provided with the RTK module, and the unmanned aerial vehicle has the advantages of strong anti-interference capability, stable flight in a weak signal environment, long image transmission distance, long endurance time and the like.
The mobile terminal operating system comprises a client and a data terminal, wherein the client is used for controlling the flight of the unmanned aerial vehicle, and the data terminal is used for the client to access relevant information. The client is divided into an interface layer, a logic layer and a storage layer. The interface layer realizes a man-machine interaction mode, the logic layer realizes related control functions of the unmanned aerial vehicle, and the storage layer manages local route data.
The data management platform is in a B/S architecture mode, the map display of the front end is realized through a WebGL technology, and the use of a computer is supported. Specifically, the data management platform adopts an open architecture to ensure high expandability of the platform, and simultaneously follows a standard data communication protocol to provide data support for other management systems by an open data interface.
In addition, the data management platform is based on a GIS (geographic information system), realizes position correlation display between patrol data and road section maps, performs centralized management and digital archiving on the data, is convenient for query and retrieval, is permanently stored, establishes an abnormal database and supports multi-sequence photo comparison. The realization functions comprise:
data import: a storage card on the unmanned aerial vehicle is connected with a computer, and automatic introduction of patrol data (including patrol photos and videos) is achieved.
And (3) data display: and (4) performing two-dimensional display on the road section map to realize the correlation display of the patrol data and the spatial position.
And (3) data analysis: analyzing the inspection photos and videos and judging abnormality; at the present stage, manual interpretation is mainly performed, and image recognition is assisted.
And (4) patrol report: and summarizing the patrol time, patrol objects, patrol personnel, abnormal conditions, disposal methods and the like to form a road patrol report.
Data management: and storing and managing inspection data (including inspection photos and videos) and analysis data, establishing an abnormal database, and performing time sequence management on the abnormality.
In addition, an embodiment of the present invention further provides a highway road administration unmanned aerial vehicle patrol system, including:
at least one memory for storing a program;
at least one processor for loading the program to execute the method for patrolling a road administration unmanned aerial vehicle.
The content of the embodiment of the method of the invention is all applicable to the embodiment of the system, the function of the embodiment of the system is the same as the embodiment of the method, and the beneficial effect achieved by the embodiment of the system is the same as the beneficial effect achieved by the method.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A highway road administration unmanned aerial vehicle patrolling method is characterized by comprising the following steps:
controlling the unmanned aerial vehicle to fly to a mission point;
receiving task data of the unmanned aerial vehicle at the task point, wherein the task data comprises position coordinates of the task point, course angle data of the unmanned aerial vehicle and holder angle data;
generating a curing route according to the task data;
receiving an execution instruction of a highway road administration patrol task;
and controlling the unmanned aerial vehicle to execute the highway road patrol task according to the execution instruction and the curing route.
2. The method according to claim 1, wherein the controlling the unmanned aerial vehicle to fly to the mission point comprises:
selecting one of a plurality of target flight routes as a current flight training route;
controlling the unmanned aerial vehicle to fly along the current flight training route;
acquiring environmental information of the unmanned aerial vehicle flying on the current flight training route;
and adjusting the current flight training route in the plurality of target flight routes according to the environment information.
3. The method according to claim 1, wherein the receiving task data of the drone at the mission point, the task data including position coordinates of the mission point, heading angle data of the drone, and pan-tilt angle data, comprises:
receiving first real-time position information and course angle data of the unmanned aerial vehicle when the unmanned aerial vehicle flies to the task point;
matching the first real-time location information with a plurality of target locations;
adjusting a camera shooting angle on the unmanned aerial vehicle according to the matching result;
and receiving the tripod head angle data after the camera shooting angle on the unmanned aerial vehicle is determined to be adjusted.
4. The method according to claim 3, wherein the matching the first real-time location information with a plurality of target locations comprises:
acquiring a closest target position from the plurality of target positions according to the first real-time position information;
calculating a first real-time distance value between the first real-time position information and the closest target position;
and after the first real-time distance value is determined to be within the preset range, ending the current position information matching process.
5. The method according to claim 1, wherein the generating of the solidified route according to the mission data includes:
and generating a curing route after determining that the task data of all the task points are received.
6. The method according to claim 1, wherein said controlling the unmanned aerial vehicle to perform the road administration patrol task according to the execution command and the cured route comprises:
controlling the unmanned aerial vehicle to fly along the curing route according to the execution instruction;
receiving second real-time position information of the unmanned aerial vehicle during flying of the curing route;
calculating a second real-time distance value between the second real-time position information and a target position in the curing route;
after the second real-time distance value is determined to be within a preset range, controlling the flight speed of the unmanned aerial vehicle and adjusting the shooting angle of a camera on the unmanned aerial vehicle to a target shooting angle;
receiving camera shooting data;
and sending the camera shooting data to a data management platform.
7. The utility model provides a highway road administration unmanned aerial vehicle system of patrolling, its characterized in that, including removing end operating system, unmanned aerial vehicle, data management platform and server side, remove end operating system, unmanned aerial vehicle and data management platform all with the server side communication, the server side is used for carrying out following step:
controlling the unmanned aerial vehicle to fly to a mission point;
receiving task data of the unmanned aerial vehicle at the task point, wherein the task data comprises position coordinates of the task point, course angle data of the unmanned aerial vehicle and holder angle data;
generating a curing route according to the task data;
receiving an execution instruction of a highway road administration patrol task;
and controlling the unmanned aerial vehicle to execute the highway road patrol task according to the execution instruction and the curing route.
8. The system of claim 7, wherein the data management platform is in B/S architecture mode.
9. The system of claim 7, wherein the unmanned aerial vehicle is provided with an RTK module.
10. The utility model provides a highway road administration unmanned aerial vehicle inspection system which characterized in that includes:
at least one memory for storing a program;
at least one processor configured to load the program to perform a method of patrolling a road administration drone according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010999480.2A CN112235355B (en) | 2020-09-22 | 2020-09-22 | Inspection method and system for highway administration unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010999480.2A CN112235355B (en) | 2020-09-22 | 2020-09-22 | Inspection method and system for highway administration unmanned aerial vehicle |
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| CN115661965A (en) * | 2022-09-06 | 2023-01-31 | 贵州博睿科讯科技发展有限公司 | Intelligent inspection system integrated with automatic airport for highway unmanned aerial vehicle |
| CN116448120A (en) * | 2023-04-20 | 2023-07-18 | 广州天勤数字科技有限公司 | Unmanned aerial vehicle take-off and landing navigation system and method based on Internet of things |
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