CN113359857A - Unmanned aerial vehicle power equipment autonomous inspection method and device - Google Patents
Unmanned aerial vehicle power equipment autonomous inspection method and device Download PDFInfo
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Abstract
The embodiment of the application discloses a method and a device for autonomous inspection of unmanned aerial vehicle power equipment, wherein the method comprises the following steps: the ground station receives a task list of the unmanned aerial vehicle; the ground station plans the route information of the unmanned aerial vehicle according to the task column; the ground station sends the route information to an unmanned aerial vehicle data control platform, so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information; and the ground station receives the route feedback information and controls the unmanned aerial vehicle to execute the task list according to the route feedback information. Before the unmanned aerial vehicle executes the task list, the ground station acquires route feedback information of the unmanned aerial vehicle through the unmanned aerial vehicle data control platform, wherein the route feedback information is feedback reflecting whether route conflict exists when the unmanned aerial vehicle executes the task list; the ground station executes the task list of the unmanned aerial vehicle according to the route feedback information, so that the unmanned aerial vehicle does not cause the conflict problem caused by disturbance of the unmanned aerial vehicle when executing the task list.
Description
Technical Field
The embodiment of the application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle power equipment autonomous patrol method and device.
Background
With the continuous expansion and complication of the application scene of the unmanned aerial vehicle, some tasks need to be completed by multiple unmanned aerial vehicles in a formation cooperation manner, for example, multitask inspection needs to be performed under complex terrain and environment, compared with single-machine flight, the multi-machine cooperation of the unmanned aerial vehicle is much more complex, a flight and attitude control system and a communication system need to be provided, and the coordination problem of multiple machines needs to be considered. Such as task matching, track planning, formation generation and maintenance, and collision prevention caused by information interaction and flight disturbance.
The invention provides an unmanned aerial vehicle power equipment autonomous patrol method and device, aiming at solving the problem that when an unmanned aerial vehicle executes a task, conflict caused by aircraft disturbance is avoided.
Disclosure of Invention
The embodiment of the application provides an autonomous inspection method and device for power equipment of an unmanned aerial vehicle, wherein before the unmanned aerial vehicle executes a task list, a ground station acquires route feedback information of the unmanned aerial vehicle through an unmanned aerial vehicle data control platform, and the route feedback information is feedback reflecting whether route conflicts exist when the unmanned aerial vehicle executes the task list; the ground station executes the task list of the unmanned aerial vehicle according to the route feedback information, so that the unmanned aerial vehicle does not cause the conflict problem caused by disturbance of the unmanned aerial vehicle when executing the task list.
The first aspect of the embodiment of the application provides a method for autonomous inspection of power equipment of an unmanned aerial vehicle, which comprises the following steps:
the ground station receives a task list of the unmanned aerial vehicle;
the ground station plans the route information of the unmanned aerial vehicle according to the task column;
the ground station sends the route information to an unmanned aerial vehicle data control platform, so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information;
and the ground station receives the route feedback information and controls the unmanned aerial vehicle to execute the task list according to the route feedback information.
Optionally, the controlling the unmanned aerial vehicle to execute the task list according to the route feedback information includes:
the ground station judges whether the route feedback information is consistent with a preset feedback value or not;
and if not, the ground station replans the air route information of the unmanned aerial vehicle according to the mission column and sends the air route information to the unmanned aerial vehicle data control platform.
Optionally, after the ground station determines whether the route feedback information is consistent with a preset feedback value, the method further includes:
and if so, the ground station controls the unmanned aerial vehicle to execute the task list according to the route feedback information.
Optionally, the route information includes: the method comprises the steps of airline files, unmanned aerial vehicle preset speed, unmanned aerial vehicle preset takeoff time and unmanned aerial vehicle models.
The second aspect of the embodiment of the present application provides a method for autonomous inspection of power equipment of an unmanned aerial vehicle, including:
receiving route information sent by a ground station by an unmanned aerial vehicle data control platform;
the unmanned aerial vehicle data control platform generates route feedback information according to the route information;
and the unmanned aerial vehicle data control platform sends the route feedback information to the ground station so that the ground station controls the unmanned aerial vehicle to execute a task list according to the route feedback information, wherein the route feedback information comprises route conflict feedback information and route reasonable feedback information.
Optionally, the unmanned aerial vehicle data control platform generates route feedback information according to the route information, including:
the unmanned aerial vehicle data control platform judges whether the air route information conflicts with a preset air route or not;
and if so, the unmanned aerial vehicle data control platform generates air route conflict feedback information.
Optionally, after the unmanned aerial vehicle data control platform determines whether the flight path information conflicts with a preset flight path, the method further includes:
and if not, the unmanned aerial vehicle data control platform generates reasonable route feedback information.
Optionally, the unmanned aerial vehicle data control platform judges whether the airline information conflicts with a preset airline, including:
the unmanned aerial vehicle data control platform establishes a route three-dimensional model according to the route information and the digital map;
and the unmanned aerial vehicle data control platform judges whether the air route information conflicts with a preset air route according to the air route three-dimensional model.
A third aspect of embodiments of the present application provides a ground station, including:
the first receiving unit is used for receiving a task column of the unmanned aerial vehicle;
the planning unit is used for planning the air route information of the unmanned aerial vehicle according to the task column;
the first sending unit is used for sending the route information to an unmanned aerial vehicle data control platform so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information;
and the receiving/executing unit is used for receiving the route feedback information and controlling the unmanned aerial vehicle to execute the task list according to the route feedback information.
Optionally, the receiving/executing unit includes: the device comprises a receiving module, a first judging module and an executing module.
The receiving module is used for receiving the air route feedback information;
the first judgment module is used for judging whether the route feedback information is consistent with a preset feedback value or not;
and the planning unit is further used for re-planning the route information of the unmanned aerial vehicle according to the mission column when the first judgment module determines that the route feedback information is inconsistent with a preset feedback value.
And the execution module is used for controlling the unmanned aerial vehicle to execute the task list according to the route feedback information when the first judgment module determines that the route feedback information is consistent with a preset feedback value.
The fourth aspect of the embodiments of the present application provides an unmanned aerial vehicle data control platform, include:
the second receiving unit is used for receiving the route information sent by the ground station;
the generating unit is used for generating route feedback information according to the route information;
and the second sending unit is used for sending the route feedback information to the ground station so that the ground station controls the unmanned aerial vehicle to execute the task list according to the route feedback information.
Optionally, the generating unit includes: the device comprises a second judgment module and a generation module.
The second judgment module is used for judging whether the air route information conflicts with a preset air route or not;
and the generating module is used for generating route conflict feedback information when the second judging unit determines that the route information conflicts with a preset route.
And the generating module is also used for generating reasonable route feedback information when the second judging unit determines that the route information does not conflict with a preset route.
Optionally, the second determining module includes: and establishing a submodule and a judging submodule.
The establishing submodule is used for establishing a route three-dimensional model according to the route information and the digital map;
and the judgment submodule is used for judging whether the flight path information conflicts with a preset flight path according to the flight path three-dimensional model.
A fifth aspect of an embodiment of the present application provides a ground station, including:
a processor, a memory, an input-output device, and a bus; the processor is connected with the memory, the input and output device and the bus.
The processor performs the following operations:
receiving a task list of the unmanned aerial vehicle;
planning route information of the unmanned aerial vehicle according to the task list;
sending the route information to an unmanned aerial vehicle data control platform so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information;
and receiving the route feedback information, and controlling the unmanned aerial vehicle to execute the task list according to the route feedback information.
A sixth aspect of the embodiments of the present application provides an unmanned aerial vehicle data control platform, include:
a processor, a memory, an input-output device, and a bus; the processor is connected with the memory, the input and output device and the bus.
The processor performs the following operations:
receiving route information sent by a ground station;
generating route feedback information according to the route information;
and sending the route feedback information to the ground station so that the ground station controls the unmanned aerial vehicle to execute the task list according to the route feedback information.
The embodiment of the application provides a computer-readable storage medium, wherein a program is stored on the computer-readable storage medium, and the program is executed on a computer to execute the method.
From the above techniques: the ground station receives a task list of the unmanned aerial vehicle; the ground station plans the route information of the unmanned aerial vehicle according to the task column; the ground station sends the route information to an unmanned aerial vehicle data control platform, so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information; and the ground station receives the route feedback information and controls the unmanned aerial vehicle to execute the task list according to the route feedback information. Before the unmanned aerial vehicle executes the task list, the ground station acquires route feedback information of the unmanned aerial vehicle through the unmanned aerial vehicle data control platform, wherein the route feedback information is feedback reflecting whether route conflict exists when the unmanned aerial vehicle executes the task list; the ground station executes the task list of the unmanned aerial vehicle according to the route feedback information, so that the unmanned aerial vehicle does not cause the conflict problem caused by disturbance of the unmanned aerial vehicle when executing the task list.
Drawings
Fig. 1 is a schematic flow chart of an embodiment of a method for autonomous inspection of power equipment of an unmanned aerial vehicle according to the embodiment of the present application;
fig. 2 is a schematic flow chart of another embodiment of a method for autonomous inspection of power equipment of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic flow chart of another embodiment of a method for autonomous inspection of power equipment of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 4 is a schematic flowchart of another embodiment of a method for autonomous inspection of power equipment of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of an embodiment of a ground station in an embodiment of the present application;
fig. 6 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle data control platform in the embodiment of the present application;
fig. 7 is a schematic structural diagram of another embodiment of the ground station in the embodiment of the present application;
fig. 8 is a schematic structural diagram of another embodiment of the data control platform of the unmanned aerial vehicle in the embodiment of the present application.
Detailed Description
The embodiment of the application provides an autonomous inspection method and device for power equipment of an unmanned aerial vehicle, wherein before the unmanned aerial vehicle executes a task list, a ground station acquires route feedback information of the unmanned aerial vehicle through an unmanned aerial vehicle data control platform, and the route feedback information is feedback reflecting whether route conflicts exist when the unmanned aerial vehicle executes the task list; the ground station executes the task list of the unmanned aerial vehicle according to the route feedback information, so that the unmanned aerial vehicle does not cause the conflict problem caused by disturbance of the unmanned aerial vehicle when executing the task list.
Referring to fig. 1, an embodiment of a method for autonomous inspection of an unmanned aerial vehicle power device in an embodiment of the present application includes:
101. the ground station receives a task list of the unmanned aerial vehicle;
in an embodiment of the present application, a ground station communicates with multiple drones via a data link, wherein frequency, time, and code division multiple access is used to distinguish telemetry parameters and task sensor information from different drones. When unmanned aerial vehicle many sets carry out the task in coordination, the operator can use input device to the corresponding task list of unmanned aerial vehicle of ground station input, and the ground station can receive the task list that unmanned aerial vehicle needs to carry out this moment, and the ground station is listed according to this task and is confirmed the task that unmanned aerial vehicle needs to carry out, contains the target object information in this task, the destination information that the target object corresponds.
For example, the first ground station determines that the first drone performs task one and the second drone performs task two; and the second ground station determines that the third unmanned aerial vehicle executes task three and the fourth unmanned aerial vehicle executes task four.
102. The ground station plans the route information of the unmanned aerial vehicle according to the task column;
after the ground station receives the mission column of the unmanned aerial vehicle, the ground station plans the route information of the unmanned aerial vehicle according to the mission column of the unmanned aerial vehicle, wherein the route information comprises data information such as route files, the preset speed of the unmanned aerial vehicle, the preset takeoff time of the unmanned aerial vehicle, the type of the unmanned aerial vehicle and the like. The ground station plans the route information of the unmanned aerial vehicle according to the task list of the unmanned aerial vehicle as follows:
the first ground station determines the flight destination of the first unmanned aerial vehicle according to the destination corresponding to the first target object in the first task; the first ground station then establishes a first unmanned flight path according to the first unmanned flight destination. After the ground station determines the first flight path, the first flight path is stored in a path file, and before the first unmanned machine takes off, the ground station sets the preset speed and the preset taking-off time of the first unmanned machine.
103. The ground station sends the route information to the unmanned aerial vehicle data control platform, so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information;
after the ground station determines the route information, the ground station needs to determine whether a planned unmanned aerial vehicle route has a route conflict, so that the ground station sends the route information to the unmanned aerial vehicle data control platform, the unmanned aerial vehicle data control platform judges whether the route conflict exists according to the route information, and route feedback information is generated according to the judgment result.
104. And the ground station receives the route feedback information and controls the unmanned aerial vehicle to execute the task list according to the route feedback information.
After the unmanned aerial vehicle data control platform generates route feedback information, the route feedback information is sent to the ground station; at the moment, the ground station can receive the route feedback information sent by the unmanned aerial vehicle data control platform. And the ground station controls the unmanned aerial vehicle to execute the task list according to the air route feedback information.
For example, when the ground station determines that the route feedback information indicates that a conflict exists in the route, the ground station adjusts the unmanned aerial vehicle to execute a task according to the result of the route conflict; and when the ground station determines that the flight path feedback information indicates that the flight path has no conflict, the ground station controls the unmanned aerial vehicle to execute the task according to the preset takeoff time of the unmanned aerial vehicle.
In this embodiment, the ground station adjusts the unmanned aerial vehicle to execute the task according to the flight line conflict result, so that the coincidence point of the unmanned flight line can be determined, the unmanned aerial vehicle is controlled to stay for a period of time before the coincidence point, and then the task is continuously executed; or after the flight path of the unmanned aerial vehicle is re-planned, the task is executed; the specific manner is not specifically limited herein.
The ground station receives a task list of the unmanned aerial vehicle; the ground station plans the route information of the unmanned aerial vehicle according to the task column; the ground station sends the route information to the unmanned aerial vehicle data control platform, so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information; and the ground station receives the route feedback information and controls the unmanned aerial vehicle to execute the task list according to the route feedback information. Before the unmanned aerial vehicle executes the task list, the ground station acquires route feedback information of the unmanned aerial vehicle through the unmanned aerial vehicle data control platform, wherein the route feedback information is feedback reflecting whether route conflict exists when the unmanned aerial vehicle executes the task list; the ground station executes the task list of the unmanned aerial vehicle according to the route feedback information, so that the unmanned aerial vehicle does not cause the conflict problem caused by disturbance of the unmanned aerial vehicle when executing the task list.
Referring to fig. 2, another embodiment of the method for autonomous inspection of the unmanned aerial vehicle power equipment in the embodiment of the present application includes:
201. the ground station receives a task list of the unmanned aerial vehicle;
202. the ground station plans the route information of the unmanned aerial vehicle according to the task column;
203. the ground station sends the air route information to the unmanned aerial vehicle data control platform so that the unmanned aerial vehicle data control platform generates air route feedback information according to the air route information;
204. The ground station receives the route feedback information and judges whether the route feedback information is consistent with a preset feedback value or not; if not, go to step 202; if yes, go to step 205;
after receiving route feedback information sent by an unmanned aerial vehicle data control platform, the ground station; the ground station judges whether the flight path feedback information indicates that the flight path conflicts, so that the ground station judges whether the flight path feedback information is consistent with a preset feedback value, and when the flight path feedback information is determined to be consistent with the preset feedback value, the ground station determines that the flight path information does not conflict, and step 205 is executed; if it is determined that the route feedback information is inconsistent with the preset feedback value, it indicates that the ground station determines that the route information has a route conflict, and step 202 is executed to re-plan the route information.
205. And the ground station controls the unmanned aerial vehicle to execute the task list according to the air route feedback information.
When the ground station determines that the flight path feedback information indicates that the flight path information does not conflict, the ground station controls the unmanned aerial vehicle to execute the task according to data information such as a destination, a flight path file, a preset speed of the unmanned aerial vehicle, a preset takeoff time of the unmanned aerial vehicle, a model of the unmanned aerial vehicle and the like corresponding to a target object in the task of the unmanned aerial vehicle.
Referring to fig. 3, another embodiment of the method for autonomous inspection of the unmanned aerial vehicle power equipment in the embodiment of the present application includes:
301. receiving route information sent by a ground station by an unmanned aerial vehicle data control platform;
in this embodiment, the unmanned aerial vehicle data control platform is always in a start-up state before starting the ground station, when the ground station needs to judge whether the airline information conflicts, the ground station will send the airline information needing to be judged to the unmanned aerial vehicle data control platform, at this moment, the unmanned aerial vehicle data control platform receives the airline information sent by the ground station, and the airline information is used for the unmanned aerial vehicle data control platform to generate airline feedback information to provide a data basis.
In this embodiment, the unmanned aerial vehicle data control platform may receive the route information sent by the ground station through a WEB network, and may also receive the route information sent by the ground station through a medium propagation manner, which is not specifically limited herein.
302. The unmanned aerial vehicle data control platform generates route feedback information according to the route information;
after the unmanned aerial vehicle data control platform receives the air route information, a first flight route of a first unmanned aerial vehicle, a first flight route of a second unmanned aerial vehicle and the like are obtained from the air route information, and then the confirmed flight routes recorded on the unmanned aerial vehicle numerical control platform are obtained. The unmanned aerial vehicle data control platform judges whether an intersection point exists between the first flight route and each route in the flight routes, if so, the unmanned aerial vehicle data control platform then calculates whether two unmanned aerial vehicles corresponding to the two routes with the intersection points arrive at the intersection point at the same time, and the unmanned aerial vehicle data control platform generates route feedback information according to the calculation result.
303. And the unmanned aerial vehicle data control platform sends the route feedback information to the ground station so that the ground station controls the unmanned aerial vehicle to execute the task list according to the route feedback information, wherein the route feedback information comprises route conflict feedback information and route reasonable feedback information.
Because the flight line feedback information generated by the unmanned aerial vehicle data control platform can reflect the condition whether the flight line information conflicts with the existing flight line or not, the unmanned aerial vehicle data control platform sends the flight line feedback information to the ground station so that the ground station can control the unmanned aerial vehicle to execute the task sequence according to the flight line feedback information.
In this embodiment, the route feedback information may include route conflict feedback information and route rational feedback information; the specific time when the unmanned aerial vehicles meet at the intersection point and the like can be included, and the specific time is not specifically limited herein.
Referring to fig. 4, another embodiment of the method for autonomous inspection of the unmanned aerial vehicle power equipment in the embodiment of the present application includes:
401. receiving route information sent by a ground station by an unmanned aerial vehicle data control platform;
step 401 in this embodiment is similar to step 301 in the previous embodiment, and is not described here again.
402. The unmanned aerial vehicle data control platform establishes a route three-dimensional model according to the route information and the digital map;
after the unmanned aerial vehicle data control platform receives the route information sent by the ground station, the unmanned aerial vehicle establishes a route three-dimensional model on the digital map by combining the route information and the existing route information. Because the three-dimensional model can be more intuitive, a user can judge whether an air route junction exists through the unmanned aerial vehicle data control platform, and the friendly interactive experience feeling of the unmanned aerial vehicle data control platform and the user is improved.
403. The unmanned aerial vehicle data control platform judges whether conflict exists between the air route information and a preset air route according to the air route three-dimensional model;
after the unmanned aerial vehicle data control platform establishes a three-dimensional model of a route, the unmanned aerial vehicle data control platform directly calculates whether intersection points exist between the route information and a preset route according to the three-dimensional model, when the intersection points exist, whether two unmanned aerial vehicles corresponding to two route information with the intersection points reach the intersection points at the same time is further determined, and if the intersection points are determined to be reached at the same time, the conflict between the route information and the preset route is shown; and if the fact that the intersection is reached at different times or no route intersection exists is determined, the fact that the route information does not conflict with the preset route is shown.
404. The unmanned aerial vehicle data control platform generates air route conflict feedback information;
when the unmanned aerial vehicle data control platform determines that the air route information conflicts with a preset air route, the unmanned aerial vehicle data control platform generates air route conflict feedback information according to the air route information, and the air route conflict feedback information provides a premise for replanning the air route information of the unmanned aerial vehicle execution task column for the ground station.
405. Generating reasonable route feedback information by the unmanned aerial vehicle data control platform;
when the unmanned aerial vehicle data control platform determines that the route information does not conflict with a preset route, the hot season data control platform generates route reasonable feedback information according to the route information; the reasonable feedback information of the air route provides a data basis for the ground station to control the unmanned aerial vehicle to execute the task list.
406. And the unmanned aerial vehicle data control platform sends the route feedback information to the ground station so that the ground station controls the unmanned aerial vehicle to execute the task list according to the route feedback information, wherein the route feedback information comprises route conflict feedback information and route reasonable feedback information.
Step 406 in this embodiment is similar to step 303 in the previous embodiment, and is not described here again.
Referring to fig. 5, an embodiment of a ground station in the embodiment of the present application includes:
a first receiving unit 501, configured to receive a task list of an unmanned aerial vehicle;
a planning unit 502, configured to plan route information of the unmanned aerial vehicle according to the task column;
a first sending unit 503, configured to send the route information to the unmanned aerial vehicle data control platform, so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information;
and the receiving/executing unit 504 is configured to receive the route feedback information and control the unmanned aerial vehicle to execute the task list according to the route feedback information.
The receiving/executing unit 504 in this embodiment may include: a receiving module 5041, a first determining module 5042, and an executing module 5043.
A receiving module 5041, configured to receive lane feedback information;
a first judging module 5042, configured to judge whether the route feedback information is consistent with a preset feedback value;
the planning unit 502 is further configured to, when the first determination module determines that the route feedback information is inconsistent with the preset feedback value, re-plan the route information of the unmanned aerial vehicle according to the mission column.
And the execution module 5043 is configured to control the unmanned aerial vehicle to execute the task list according to the route feedback information when the first judgment module determines that the route feedback information is consistent with the preset feedback value.
In this embodiment, after receiving a task column of an unmanned aerial vehicle, a first receiving unit 501 sends the task column to a planning unit 502, the planning unit 502 plans route information of the unmanned aerial vehicle according to the task column, and then sends the route information to a first sending unit 503, and the first sending unit 503 sends the route information to an unmanned aerial vehicle data control platform, so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information; when the unmanned aerial vehicle data control platform sends the route feedback information to the ground station, the receiving module 5041 receives the route feedback information; the further receiving module 5041 sends the route feedback information to the first judging module 5042, and the first judging module 5042 judges whether the route feedback information is consistent with a preset feedback value; when the first judging module 5042 determines that the route feedback information is inconsistent with a preset feedback value, the planning unit 502 replans the route information of the unmanned aerial vehicle according to the mission column; when the first judging module 5042 determines that the route feedback information is consistent with the preset feedback value, the executing module 5043 controls the unmanned aerial vehicle to execute the task list according to the route feedback information.
Referring to fig. 6, an embodiment of an unmanned aerial vehicle data control platform in the embodiment of the present application includes:
a second receiving unit 601, configured to receive route information sent by a ground station;
a generating unit 602, configured to generate route feedback information according to the route information;
and a second sending unit 603, configured to send the route feedback information to the ground station, so that the ground station controls the unmanned aerial vehicle to execute the task list according to the route feedback information.
The generating unit 602 in this embodiment may include: a second determination module 6021 and a generation module 6022.
A second judging module 6021, configured to judge whether the lane information conflicts with the preset lane;
the generating module 6022 is configured to generate the lane conflict feedback information when the second judging unit determines that the lane information conflicts with the preset lane.
The generating module 6022 is further configured to generate reasonable flight path feedback information when the second judging unit determines that the flight path information does not conflict with the preset flight path.
The second determination module 6021 in this embodiment may include: a setup sub-module 60211 and a decision sub-module 60212.
The establishing submodule 60211 is used for establishing a three-dimensional model of the route according to the route information and the digital map;
and the judgment submodule 60212 is used for judging whether the flight path information conflicts with the preset flight path according to the flight path three-dimensional model.
In this embodiment, the second receiving unit 601 receives the route information sent by the ground station, and sends the route information to the establishing submodule 60211, and the establishing submodule 60211 establishes a three-dimensional model of the route according to the route information and the digital map; further, the unmanned aerial vehicle data control platform sends the route three-dimensional model to the judgment submodule 60212, and the judgment submodule 60212 judges whether the route information conflicts with a preset route according to the route three-dimensional model; when the judgment submodule 60212 determines that the lane information conflicts with the preset lane, the generation module 6022 generates lane conflict feedback information; when the judgment sub-module 60212 determines that the lane does not conflict with the preset lane, the generation module 6022 generates reasonable feedback information of the lane. Regardless of whether the generating module 6022 generates the airline collision feedback information or the airline reasonable feedback information, the generating module 6022 transmits the generated airline collision feedback information or airline reasonable feedback information to the second transmitting unit 603, and the second transmitting unit 603 transmits the airline collision feedback information or airline reasonable feedback information to the ground station, so that the ground station controls the unmanned aerial vehicle to execute the task list according to the airline collision feedback information or airline reasonable feedback information.
Referring to fig. 7, the ground station in the embodiment of the present application is described in detail below, where another embodiment of the ground station in the embodiment of the present application includes:
a processor 701, a memory 702, an input/output unit 703, a bus 704;
the processor 701 is connected with the memory 702, the input/output unit 703 and the bus 704;
the processor 701 performs the following operations:
receiving a task list of the unmanned aerial vehicle;
planning route information of the unmanned aerial vehicle according to the task column;
sending the route information to an unmanned aerial vehicle data control platform so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information;
and receiving the route feedback information, and controlling the unmanned aerial vehicle to execute the task list according to the route feedback information.
In this embodiment, the functions of the processor 701 are similar to those of the steps in the embodiments shown in fig. 1 to fig. 2, and are not described herein again.
In the following, a detailed description is given to the data control platform of the unmanned aerial vehicle in the embodiment of the present application, please refer to fig. 8, and another embodiment of the data control platform of the unmanned aerial vehicle in the embodiment of the present application includes:
a processor 801, a memory 802, an input/output unit 803, a bus 804;
the processor 801 is connected to a memory 802, an input/output unit 803, and a bus 804;
the processor 801 performs the following operations:
receiving route information sent by a ground station;
generating route feedback information according to the route information;
and sending the route feedback information to the ground station so that the ground station controls the unmanned aerial vehicle to execute the task list according to the route feedback information.
In this embodiment, the functions of the processor 801 and the steps in the embodiments shown in fig. 3 to fig. 4 are not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
Claims (10)
1. The method for autonomous patrol of unmanned aerial vehicle power equipment is characterized by comprising the following steps:
the ground station receives a task list of the unmanned aerial vehicle;
the ground station plans the route information of the unmanned aerial vehicle according to the task column;
the ground station sends the route information to an unmanned aerial vehicle data control platform, so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information;
and the ground station receives the route feedback information and controls the unmanned aerial vehicle to execute the task list according to the route feedback information.
2. The method of claim 1, wherein said controlling the drone to execute the task list according to the route feedback information comprises:
the ground station judges whether the route feedback information is consistent with a preset feedback value or not;
and if not, the ground station replans the air route information of the unmanned aerial vehicle according to the mission column and sends the air route information to the unmanned aerial vehicle data control platform.
3. The method of claim 2, wherein after the ground station determines whether the route feedback information is consistent with a predetermined feedback value, the method further comprises:
and if so, the ground station controls the unmanned aerial vehicle to execute the task list according to the route feedback information.
4. The method of any of claims 1 to 3, wherein the route information comprises: the method comprises the steps of airline files, unmanned aerial vehicle preset speed, unmanned aerial vehicle preset takeoff time and unmanned aerial vehicle models.
5. The method for autonomous patrol of unmanned aerial vehicle power equipment is characterized by comprising the following steps:
receiving route information sent by a ground station by an unmanned aerial vehicle data control platform;
the unmanned aerial vehicle data control platform generates route feedback information according to the route information;
and the unmanned aerial vehicle data control platform sends the route feedback information to the ground station so that the ground station controls the unmanned aerial vehicle to execute a task list according to the route feedback information, wherein the route feedback information comprises route conflict feedback information and route reasonable feedback information.
6. The method of claim 5, wherein the drone data control platform generates airline feedback information based on the airline information, comprising:
the unmanned aerial vehicle data control platform judges whether the air route information conflicts with a preset air route or not;
and if so, the unmanned aerial vehicle data control platform generates air route conflict feedback information.
7. The method of claim 6, wherein after the UAV data console determines whether the route information conflicts with a preset route, the method further comprises:
and if not, the unmanned aerial vehicle data control platform generates reasonable route feedback information.
8. The method of any one of claims 6 to 7, wherein the determining, by the UAV data control platform, whether the route information conflicts with a preset route comprises:
the unmanned aerial vehicle data control platform establishes a route three-dimensional model according to the route information and the digital map;
and the unmanned aerial vehicle data control platform judges whether the air route information conflicts with a preset air route according to the air route three-dimensional model.
9. A ground station, comprising:
the first receiving unit is used for receiving a task column of the unmanned aerial vehicle;
the planning unit is used for planning the air route information of the unmanned aerial vehicle according to the task column;
the first sending unit is used for sending the route information to an unmanned aerial vehicle data control platform so that the unmanned aerial vehicle data control platform generates route feedback information according to the route information;
and the receiving/executing unit is used for receiving the route feedback information and controlling the unmanned aerial vehicle to execute the task list according to the route feedback information.
10. An unmanned aerial vehicle data control platform, its characterized in that includes:
the second receiving unit is used for receiving the route information sent by the ground station;
the generating unit is used for generating route feedback information according to the route information;
and the second sending unit is used for sending the route feedback information to the ground station so that the ground station controls the unmanned aerial vehicle to execute the task list according to the route feedback information.
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