CN113485421A - Unmanned aerial vehicle flight inspection method, system, equipment and medium - Google Patents
Unmanned aerial vehicle flight inspection method, system, equipment and medium Download PDFInfo
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Abstract
The invention discloses a method, a system, equipment and a medium for unmanned aerial vehicle flight inspection, and belongs to the field of unmanned aerial vehicle inspection. The method comprises the following steps: in the process that the unmanned aerial vehicle carries out flight inspection according to the 4D track, receiving and processing data information acquired by airborne equipment to acquire flight information; executing one or more preset judgment conditions according to the flight information to obtain a judgment result; and when the judgment result of any one preset judgment condition is that the unmanned aerial vehicle can not finish flying inspection, modifying the 4D track according to a preset rule and generating a new 4D track so that the flight control system can control the unmanned aerial vehicle to fly according to the new 4D track to continue flying inspection. According to the invention, the data information acquired by the airborne equipment is processed, and the 4D flight path is adjusted when the situation that the flight inspection cannot be completed is judged, so that the flight inspection is completed under the condition of no intervention of manpower, and the method is high in efficiency and accurate in inspection.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to a method, a system, equipment and a medium for unmanned aerial vehicle flight inspection.
Background
With the rapid advance of the aviation technology, the aircrafts have been developed comprehensively from military use to civil use and from manned to unmanned, so that the application fields of the aircrafts are more and more extensive, and simultaneously, with the gradual maturity of the 5G Internet of things, artificial intelligence and big data technology, the unmanned aerial vehicle can play a place in the construction of smart cities, and the reasonable utilization of urban airspace becomes a market which is urgently needed to be developed by all big unmanned aerial vehicle companies.
The 4D flight path is a mode of accurately describing the whole flight process of the aircraft by utilizing three-dimensional spatial position information (longitude, latitude and height) and adding one-dimensional time information, is widely applied to the field of civil aviation, and plans the accurate flight paths and time of each flight in advance through an air management system, so that the civil aviation aircraft around the world can fly orderly.
Along with the rapid development of economy, the demand of people on city life is increasingly improved, so that the unmanned aerial vehicle plays a very important role in the development of smart cities. However, due to dense urban population and standing in high buildings, the existing unmanned aerial vehicle 4D flight technology is difficult to be deeply applied in urban airspace, and the main reason is that urban operation needs to be guaranteed with high safety and reliability.
The existing unmanned aerial vehicle flight inspection is mainly carried out in a manual flight mode or a 3D trajectory planning automatic flight mode by depending on a flight control remote controller, but the methods are low in efficiency and cannot accurately control the flight state.
Disclosure of Invention
Aiming at the problems that the flying inspection efficiency of the unmanned aerial vehicle is low and precise control is difficult in the prior art, the invention aims to provide a flying inspection method, a flying inspection system, a flying inspection device and a flying inspection medium for the unmanned aerial vehicle.
In order to achieve the purpose, the technical scheme of the invention is as follows:
on one hand, the invention provides an unmanned aerial vehicle flight inspection method, which comprises the following steps:
in the process of carrying out flight inspection by the unmanned aerial vehicle according to the 4D track, receiving data information acquired by airborne equipment, and processing the data information to acquire flight information;
executing one or more preset judging conditions according to the content of the flight information to obtain a judging result, wherein the judging result is that the unmanned aerial vehicle flight inspection can be finished or can not be finished, and entering the next step when the judging result of any one preset judging condition is that the unmanned aerial vehicle flight inspection can not be finished;
and modifying the 4D track according to a preset rule and generating a new 4D track so that the unmanned aerial vehicle is controlled by a flight control system to fly according to the new 4D track to continue flying inspection.
Preferably, the flight information includes at least one of local azimuth and speed information, battery remaining capacity information, obstacle information on the 4D track, bad weather region and its duration information on the 4D track, clearance region and its duration information on the 4D track.
Preferably, the preset judgment condition includes:
judging whether the residual battery capacity can support the completion of the unmanned aerial vehicle flight inspection, if so, judging that the unmanned aerial vehicle flight inspection can be completed, otherwise, not completing;
judging whether an obstacle exists on the 4D track, if so, judging that the unmanned aerial vehicle flight inspection cannot be finished, otherwise, finishing the unmanned aerial vehicle flight inspection;
judging whether the 4D track has bad weather areas and information of the existence period of the bad weather areas, if so, judging that the unmanned aerial vehicle flight inspection cannot be finished, otherwise, finishing the operation;
and judging whether a clearance area and the information of the existence period of the clearance area exist on the 4D track, if so, judging that the unmanned aerial vehicle flight inspection cannot be finished, and if not, finishing.
Preferably, the modifying the 4D track and generating a new 4D track includes:
when the residual battery capacity can not support the completion of the unmanned aerial vehicle flight inspection, reducing the time interval between the waypoints in the 4D track to generate a new 4D track;
when the 4D track has an obstacle, inserting a new waypoint in the 4D track to bypass the obstacle, thereby generating a new 4D track;
when a bad weather area exists on the 4D track, inserting a new waypoint in the 4D track to bypass the bad weather area, or changing the time interval between waypoints in the 4D track to avoid the existence period of the bad weather area, thereby generating a new 4D track;
when a clearance area exists on the 4D track, inserting a new waypoint in the 4D track to bypass the clearance area, or changing the time interval between waypoints in the 4D track to avoid the existence period of the clearance area, thereby generating the new 4D track.
Preferably, the onboard equipment comprises one or more of sensing equipment, power management equipment, visualization equipment and communication equipment; the processing the data information to obtain the flight information includes:
calculating data information acquired by the sensing equipment through a sensor fusion algorithm to acquire the azimuth and navigational speed information of the local machine;
obtaining the information of the residual electric quantity of the battery through power management equipment;
processing data information acquired by the visualization equipment through an artificial intelligence algorithm to acquire obstacle information on the 4D track;
and obtaining information of bad weather areas and the existence period thereof on the 4D track and information of clearance areas and the existence period thereof on the 4D track through communication equipment.
Preferably, the sensing device comprises one or more of a GNSS module, a barometer, an accelerometer, a gyroscope, and a magnetometer; the visualization device comprises at least one of a camera, a laser radar and a millimeter wave radar.
Preferably, the process of the unmanned aerial vehicle performing flight inspection according to the 4D track comprises,
and judging whether the azimuth and the speed information of the unmanned aerial vehicle are consistent with the 4D track, if so, continuing to fly and patrol, otherwise, generating new azimuth and speed parameters so that the unmanned aerial vehicle can return to the 4D track after the flight control system executes the new azimuth and speed parameters.
In another aspect, the invention provides an unmanned aerial vehicle flight inspection system, comprising
The acquisition module is used for acquiring the 4D flight path and data information acquired by the airborne equipment;
the information processing module is used for processing the data information acquired by the airborne equipment to acquire flight information;
the judging module is used for executing a preset judging condition according to the flight information to obtain a judging result; and
and the modification module is used for modifying the 4D track and generating a new 4D track when the judgment result is that the unmanned aerial vehicle flight inspection can not be completed.
In yet another aspect, the present invention provides an unmanned aerial vehicle flight inspection device comprising a memory having executable program code stored therein, and a processor coupled to the memory; the processor calls the executable program code stored in the memory to execute the method.
In yet another aspect, the invention provides a computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the method as described above.
By adopting the technical scheme, the flying inspection process of the unmanned aerial vehicle is carried out according to the 4D flight path, so that the manual operation intensity is reduced; and because the flight information is obtained by acquiring and processing the sensor information, whether the unmanned aerial vehicle flight inspection can be finished or not is judged according to the flight information, and the unmanned aerial vehicle flight inspection can be continued by modifying and generating a new 4D track when the unmanned aerial vehicle flight inspection cannot be finished, the unmanned aerial vehicle flight inspection can be finished by executing the method provided by the invention under the condition of no manual intervention, so that the inspection efficiency is improved, and accurate management and control are realized.
Drawings
FIG. 1 is a flow chart of a method for inspecting the flight of an unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle flight inspection system according to the present invention;
fig. 3 is a schematic structural diagram of the unmanned aerial vehicle flight inspection device.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on structures shown in the drawings, and are only used for convenience in describing the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.
In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.
Example one
An unmanned aerial vehicle flight inspection method is shown in fig. 1 and comprises a step S1, a step S2, a step S3 and a step S4.
Step S1, receiving data information acquired by airborne equipment and processing the data information to acquire flight information in the process of carrying out flight inspection on the unmanned aerial vehicle according to the 4D track;
the method provided by the embodiment is usually executed locally by a processing device mounted on the drone, but may also be executed remotely by a remote server in communication connection with the drone. The unmanned aerial vehicle executing the flight inspection is provided with a flight control system, and the flight control system controls the flight state of the unmanned aerial vehicle through an automatic control algorithm, so that the flight of the unmanned aerial vehicle is controlled.
The airborne equipment comprises one or more of sensing equipment, power management equipment, visualization equipment and communication equipment, all the airborne equipment is usually carried, different types of airborne equipment respectively acquire different sensing information, and corresponding flight information is also multiple. Specifically, the flight information includes the local direction and speed information, the battery remaining capacity information, the obstacle information on the 4D track, the bad weather area and its duration information on the 4D track, and the clearance area and its duration information on the 4D track.
The different flight information is obtained by processing the data information acquired by different airborne equipment. For example: calculating data information acquired by the sensing equipment through a sensor fusion algorithm so as to acquire the azimuth and navigational speed information of the local machine; acquiring the residual battery capacity information through power management equipment; processing data information acquired by the visualization equipment through an artificial intelligence algorithm to acquire barrier information on the 4D track; and obtaining the bad weather area and the survival time period information thereof on the 4D track and the clearance area and the survival time period information thereof on the 4D track through the communication equipment.
The sensing equipment comprises one or more of a GNSS module, a barometer, an accelerometer, a gyroscope and a magnetometer; the visualization equipment comprises at least one of a camera, a laser radar and a millimeter wave radar; the communication device is a GPRS module, a 3G, 4G or 5G communication module.
In 4D flight path planning, the drone usually cruises in a uniform flight mode, performs a patrol task during the cruise process, and also performs hovering and variable-speed flight under specific conditions. Based on the local position and speed information in the flight information, in this embodiment, the process of the unmanned aerial vehicle performing flight inspection according to the 4D track may be understood as follows: and judging whether the azimuth and the speed information of the unmanned aerial vehicle are consistent with the 4D track (whether the 4D track deviates from the 4D track), if so, continuing the flight inspection, otherwise, generating new azimuth and speed parameters so that the flight control system can make the unmanned aerial vehicle return to the 4D track after executing the new azimuth and speed parameters. For example, when the three-dimensional track deviates, the heading is modified; and when the one-dimensional time deviates, the flying speed is adjusted.
Step S2, executing one or more items in preset judgment conditions according to the content of the flight information to obtain a judgment result, wherein the judgment result is that the unmanned aerial vehicle flight inspection can be completed or can not be completed;
step S3, identifying whether the judgment result of any preset judgment condition is that the unmanned aerial vehicle flight inspection cannot be finished, if so, entering the next step, otherwise, returning to the previous step;
for different flight information contents, different preset judgment conditions need to be executed, and in this embodiment, because the flight information contents are multiple, the preset judgment conditions are also multiple, specifically:
1. judging whether the residual battery capacity can support the completion of the unmanned aerial vehicle flight inspection, if so, judging that the unmanned aerial vehicle flight inspection can be completed, otherwise, not completing;
since the battery is likely to deteriorate after a long time, the remaining battery capacity needs to be taken into consideration, and the discharge curve of the battery is nonlinear, so that the factors of voltage (V) and current (I) need to be taken into consideration during flight, where V is f (V, I). For example, if the drone consumes 50% of the power and completes 40% of flight inspection, and continues to maintain the constant-speed cruise, the drone cannot complete the 60% of flight inspection which is not performed with the remaining 50% of the power, and needs to be disposed.
2. Judging whether an obstacle influencing the flight exists on the 4D track, if so, judging that the unmanned aerial vehicle flight inspection cannot be finished, otherwise, finishing the unmanned aerial vehicle flight inspection;
with the aid of data information acquired by a visualization device, the 4D flight path can be determined to have obstacles through functions provided by an AI (artificial intelligence) algorithm, such as obstacle shape recognition and positioning functions.
3. Judging whether the 4D track has bad weather areas and information of the existence period of the bad weather areas, if so, judging that the unmanned aerial vehicle flight inspection cannot be finished, otherwise, finishing the unmanned aerial vehicle flight inspection;
whether an adverse weather region influencing flight exists on the 4D flight path and the information of the existence period can be obtained by receiving the data information issued by the weather center through the communication equipment.
4. And judging whether clearance areas influencing the flight and the information of the existence period exist on the 4D track, if so, judging that the unmanned aerial vehicle flight inspection cannot be finished, and if not, finishing.
And the communication equipment receives the data information issued by the air traffic control center, so that whether a clearance area exists on the 4D track and the information of the existence period of the clearance area can be obtained.
And S4, modifying the 4D track according to a preset rule and generating a new 4D track so that the flight control system can control the unmanned aerial vehicle to fly according to the new 4D track to continue flying inspection, or generating a return instruction so that the flight control system can control the unmanned aerial vehicle to return.
In this embodiment, to different preset judgement conditions, when its judged result was that unmanned aerial vehicle flight patrol and examine and can not accomplish, it is also different to modify the mode that generates new 4D flight path to 4D flight path, specifically includes:
1. when the remaining battery capacity can not support the completion of the unmanned aerial vehicle flight inspection, reducing the time interval between the waypoints in the 4D track to generate a new 4D track;
it can be understood that reducing the time interval between waypoints in the 4D track (the unexecuted portion), i.e. the same spatial distance, the flight time of the drone is less, i.e. the cruising speed of the drone is increased, so that the drone completes more flight patrols with less electric quantity.
In addition, in another embodiment, after the new 4D track is generated, the newly generated 4D track is determined in step S2, specifically, it is determined whether the remaining battery capacity can support completion of the flight inspection of the unmanned aerial vehicle, if so, the inspection is performed according to the newly generated 4D track, otherwise, a return instruction is generated to control the return of the unmanned aerial vehicle.
2. When the 4D track has an obstacle, inserting a new waypoint in the 4D track to bypass the obstacle, thereby generating a new 4D track;
firstly, deleting the waypoint covered by the obstacle (and the distance from the obstacle is within a certain value), dividing the 4D track into two sections, and inserting a new waypoint around the obstacle to connect the two sections of 4D tracks, wherein it can be understood that the change of the waypoint and the change of the one-dimensional time correspondingly exist, so that when the obstacle is bypassed, the speed of the unmanned aerial vehicle also correspondingly changes, usually an acceleration process occurs, so that the distance of flying due to bypassing is compensated, and the speed is reduced after the obstacle is bypassed, so that the previous flying state is returned.
The principle is as follows: slave point U according to original route1Fly to U2The time required is Δ T ═ S0/V0Wherein S is0Represents a slave U1To U2Linear distance of (V)0Representing the flight speed for that distance. To bypass the obstacle, the new 4D flight path is longer than the original 4D flight path, and if flying at the previous speed, the amount of time that the back route is flying will not correspond to that planned, so variable speed flight is required, S'0Representing a new 4D track slave point U1To U2Distance of (1), S 'needs to be completed within delta T time'0Flight of the route by integral formula S'0＝∫vi·dtExpressing the relationship of the path to speed and time, speed variable viThere is a variation of acceleration and deceleration.
3. When the bad weather area exists on the 4D track, inserting a new waypoint in the 4D track to bypass the bad weather area, or changing the time interval between waypoints in the 4D track to avoid the existence period of the bad weather area, thereby generating a new 4D track;
4. when clearance areas exist on the 4D track, new waypoints are inserted into the 4D track to bypass the clearance areas, or the time interval between waypoints in the 4D track is changed to avoid the existence period of the clearance areas, so that the new 4D track is generated.
It can be understood that the process of bypassing the bad weather area and the clearance area by inserting a new waypoint is similar to the process of bypassing the obstacle, and is not described in detail. But with the difference that the bad weather zone and the clearance zone have a certain period of time between themselves, so that the drone can be made to cruise at an accelerated rate by reducing the time interval between waypoints, before the bad weather zone and the clearance zone period of time, or vice versa, to cruise at a decelerated rate, after the bad weather zone and the clearance zone period of time.
In addition, in another embodiment, after a new 4D track is regenerated under the influence of two factors, namely, a bad weather area and a clearance area, the newly generated 4D track also needs to be judged in step S2, specifically, whether the battery residual capacity can support completion of the unmanned aerial vehicle flight inspection is judged, if yes, the inspection is performed according to the newly generated 4D track, and otherwise, a return flight instruction is generated to control the unmanned aerial vehicle to return.
Example two
An unmanned aerial vehicle flight inspection system, as shown in fig. 2, includes
The acquisition module is used for acquiring the 4D flight path and receiving data information acquired by the airborne equipment;
the information processing module is used for processing the data information acquired by the airborne equipment to acquire flight information; the judging module is used for executing a preset judging condition according to the flight information to obtain a judging result; and
and the modification module is used for modifying the 4D track and generating a new 4D track when the judgment result is that the unmanned aerial vehicle can not finish flying inspection.
EXAMPLE III
An unmanned aerial vehicle flight inspection device, as shown in fig. 3, includes a memory storing executable program code; and a processor coupled with the memory; the processor calls the executable program code stored in the memory to execute the unmanned aerial vehicle flight inspection method in the first embodiment.
Example four
A computer storage medium having a computer program stored therein, the computer program, when executed by a processor, performs the method for flight inspection of unmanned aerial vehicles according to the first embodiment.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The 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 described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (10)
1. An unmanned aerial vehicle flight inspection method is characterized in that: the method comprises the following steps:
in the process of carrying out flight inspection by the unmanned aerial vehicle according to the 4D track, receiving data information acquired by airborne equipment, and processing the data information to acquire flight information;
executing one or more preset judging conditions according to the content of the flight information to obtain a judging result, wherein the judging result is that the unmanned aerial vehicle flight inspection can be finished or can not be finished, and entering the next step when the judging result of any one preset judging condition is that the unmanned aerial vehicle flight inspection can not be finished;
and modifying the 4D track according to a preset rule and generating a new 4D track so that the unmanned aerial vehicle is controlled by a flight control system to fly according to the new 4D track to continue flying inspection.
2. The unmanned aerial vehicle flight inspection method according to claim 1, wherein: the flight information comprises at least one of local direction and speed information, battery residual capacity information, obstacle information on the 4D track, bad weather areas and duration information thereof on the 4D track, clearance areas and duration information thereof on the 4D track.
3. The unmanned aerial vehicle flight inspection method according to claim 2, wherein: the preset judgment conditions comprise:
judging whether the residual battery capacity can support the completion of the unmanned aerial vehicle flight inspection, if so, judging that the unmanned aerial vehicle flight inspection can be completed, otherwise, not completing;
judging whether an obstacle exists on the 4D track, if so, judging that the unmanned aerial vehicle flight inspection cannot be finished, otherwise, finishing the unmanned aerial vehicle flight inspection;
judging whether the 4D track has bad weather areas and information of the existence period of the bad weather areas, if so, judging that the unmanned aerial vehicle flight inspection cannot be finished, otherwise, finishing the operation;
and judging whether a clearance area and the information of the existence period of the clearance area exist on the 4D track, if so, judging that the unmanned aerial vehicle flight inspection cannot be finished, and if not, finishing.
4. The unmanned aerial vehicle flight inspection method according to claim 3, wherein: the modifying the 4D track and generating a new 4D track comprises:
when the residual battery capacity can not support the completion of the unmanned aerial vehicle flight inspection, reducing the time interval between the waypoints in the 4D track to generate a new 4D track;
when the 4D track has an obstacle, inserting a new waypoint in the 4D track to bypass the obstacle, thereby generating a new 4D track;
when a bad weather area exists on the 4D track, inserting a new waypoint in the 4D track to bypass the bad weather area, or changing the time interval between waypoints in the 4D track to avoid the existence period of the bad weather area, thereby generating a new 4D track;
when a clearance area exists on the 4D track, inserting a new waypoint in the 4D track to bypass the clearance area, or changing the time interval between waypoints in the 4D track to avoid the existence period of the clearance area, thereby generating the new 4D track.
5. The unmanned aerial vehicle flight inspection method according to claim 2, wherein: the airborne equipment comprises one or more of sensing equipment, power management equipment, visualization equipment and communication equipment; the processing the data information to obtain the flight information includes:
calculating data information acquired by the sensing equipment through a sensor fusion algorithm to acquire the azimuth and navigational speed information of the local machine;
obtaining the information of the residual electric quantity of the battery through power management equipment;
processing data information acquired by the visualization equipment through an artificial intelligence algorithm to acquire obstacle information on the 4D track;
and obtaining information of bad weather areas and the existence period thereof on the 4D track and information of clearance areas and the existence period thereof on the 4D track through communication equipment.
6. The unmanned aerial vehicle flight inspection method according to claim 5, wherein: the sensing equipment comprises one or more of a GNSS module, a barometer, an accelerometer, a gyroscope and a magnetometer; the visualization device comprises at least one of a camera, a laser radar and a millimeter wave radar.
7. The unmanned aerial vehicle flight inspection method according to claim 2, wherein: the process of the unmanned aerial vehicle for flight inspection according to the 4D track comprises the following steps,
and judging whether the azimuth and the speed information of the unmanned aerial vehicle are consistent with the 4D track, if so, continuing to fly and patrol, otherwise, generating new azimuth and speed parameters so that the unmanned aerial vehicle can return to the 4D track after the flight control system executes the new azimuth and speed parameters.
8. The utility model provides an unmanned aerial vehicle flight system of patrolling and examining, its characterized in that: comprises that
The acquisition module is used for acquiring the 4D flight path and data information acquired by the airborne equipment;
the information processing module is used for processing the data information acquired by the airborne equipment to acquire flight information;
the judging module is used for executing a preset judging condition according to the flight information to obtain a judging result; and
and the modification module is used for modifying the 4D track and generating a new 4D track when the judgment result is that the unmanned aerial vehicle flight inspection can not be completed.
9. The utility model provides an unmanned aerial vehicle flight inspection equipment which characterized in that: comprising a memory storing executable program code, and a processor coupled to the memory; wherein the processor calls the executable program code stored in the memory to perform the method of any of claims 1-7.
10. A computer-readable storage medium storing a computer program, characterized in that: the computer program, when executed by a processor, performs the method of any one of claims 1-7.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115035671A (en) * | 2022-05-17 | 2022-09-09 | 浙江大华技术股份有限公司 | Forest fire prevention early warning method and device |
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| CN117893933A (en) * | 2024-03-14 | 2024-04-16 | 国网上海市电力公司 | Unmanned inspection fault detection method and system for power transmission and transformation equipment |
| CN117893933B (en) * | 2024-03-14 | 2024-05-24 | 国网上海市电力公司 | Unmanned inspection fault detection method and system for power transmission and transformation equipment |
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