CN113625766B - Method, system, terminal equipment and storage medium for navigation by unmanned aerial vehicle inspection - Google Patents
Method, system, terminal equipment and storage medium for navigation by unmanned aerial vehicle inspection Download PDFInfo
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Abstract
The invention relates to a method, a system, terminal equipment and a storage medium for inspection navigation by using an unmanned aerial vehicle, wherein the method comprises the steps of obtaining a stage model and position information of the unmanned aerial vehicle, wherein the stage model at least comprises category information and position information of each electric control equipment and position information of a preset detection point corresponding to each electric control equipment; determining a routing inspection path according to the position information of the unmanned aerial vehicle and the position information of each preset detection point; outputting a patrol signal to control the unmanned aerial vehicle to sequentially detect each electric control device according to the patrol path. According to the position information of the unmanned aerial vehicle, the fastest inspection path can be selected from the plurality of inspection paths, so that the unmanned aerial vehicle can conveniently detect various electric control devices on a stage, and meanwhile time is saved. Compared with the related art, the unmanned aerial vehicle not only can be convenient for checking the special electric control equipment at some positions on the stage, but also can be convenient for checking all the electric control equipment of the stage.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a method, a system, terminal equipment and a storage medium for navigation by using unmanned aerial vehicle inspection.
Background
Currently, some large outdoor activities or exhibitions require the construction of a stage in a large room or outdoors. In the process of arranging a stage, various devices such as an acoustic device, a lifting device, a plurality of light devices and the like are generally arranged. In order to ensure that the activity can be carried out smoothly, the entire stage is generally inspected before the activity starts, for safety reasons.
In the related art, a worker performs an inspection of each device on a stage, such as: it is checked whether the device is firmly installed or is started and shut down by operating the device to check whether the device can function properly.
In the process of checking by the staff, it takes a long time to check all the devices, and especially for some devices with special positions, the checking is inconvenient.
Disclosure of Invention
The application aims to provide a navigation method for inspection by using an unmanned plane, which has the characteristic of being convenient for inspecting stage equipment.
The first object of the present application is achieved by the following technical solutions:
The method comprises the steps of obtaining a stage model and position information of an unmanned aerial vehicle by using an unmanned aerial vehicle inspection navigation method, wherein the stage model at least comprises category information and position information of each electric control device and position information of a preset detection point corresponding to each electric control device;
Determining a routing inspection path according to the position information of the unmanned aerial vehicle and the position information of each preset detection point;
outputting a patrol signal to control the unmanned aerial vehicle to detect each electric control device in sequence according to the patrol path.
Through adopting above-mentioned technical scheme, can select a fastest route of patrolling and examining in numerous route according to unmanned aerial vehicle's positional information to unmanned aerial vehicle detects various electrical equipment on the stage, saves time simultaneously. Compared with the related art, the unmanned aerial vehicle not only can be convenient for checking the special electric control equipment at some positions on the stage, but also can be convenient for checking all the electric control equipment of the stage.
The present application may be further configured in a preferred example to: the method for determining the routing inspection path according to the position information of the unmanned aerial vehicle and the position information of each preset detection point comprises the following steps:
constructing an alternative detection point library, wherein the alternative detection point library comprises n preset detection points;
selecting a preset detection point from the alternative detection point library as an initial detection point A 0;
Selecting a next preset detection point A 1 closest to the initial detection point A 0 from an alternative detection point library;
selecting a next preset detection point A 2 closest to the preset detection point A 1 from an alternative detection point library;
……
selecting a next preset detection point A n-2 closest to the preset detection point A n-3 from an alternative detection point library;
Selecting a next preset detection point A n-1 closest to the preset detection point A n-2 from an alternative detection point library;
Wherein, after selecting a preset detection point from the candidate detection point library, marking the selected preset detection point as a non-candidate detection point;
The initial detection point A 0, the preset detection point A 1, the preset detection points A 2 and … …, the preset detection point A n-3, the preset detection point A n-2 and the preset detection point A n-1 are sequentially connected to form the routing inspection path.
By adopting the technical scheme, the only one shortest inspection path can be formed after a point is arbitrarily selected as the initial detection point, so that when the unmanned aerial vehicle is positioned at any position, the inspection path of the unmanned aerial vehicle is unique and shortest, and the unmanned aerial vehicle can conveniently detect all electric control equipment of a stage.
The present application may be further configured in a preferred example to: the method for selecting a preset detection point as an initial detection point A 0 in the alternative detection point library comprises the following steps:
And identifying one preset detection point closest to the unmanned aerial vehicle according to the position information of all the preset detection points as an initial detection point A 0.
By adopting the technical scheme, the preset detection point closest to the position of the unmanned aerial vehicle can be selected from all preset detection points according to the position information of the unmanned aerial vehicle to serve as an initial detection point, so that a unique inspection path is determined, the inspection path of the unmanned aerial vehicle is the shortest path, and the unmanned aerial vehicle can conveniently detect all electronic control equipment.
The present application may be further configured in a preferred example to: the method for outputting the inspection signal to control the unmanned aerial vehicle to sequentially detect each electronic control device according to the inspection path comprises the following steps:
Judging whether the position information of the unmanned aerial vehicle is coincident with the position information of a certain preset detection point, if so, controlling an electronic control device corresponding to the preset detection point where the unmanned aerial vehicle is currently positioned to be started for a preset time length T p, and outputting a detection signal to control the unmanned aerial vehicle to detect;
and receiving detection information of the unmanned aerial vehicle.
Through adopting above-mentioned technical scheme, can be when unmanned aerial vehicle reaches appointed default detection point, control corresponding electrical equipment and open in order that unmanned aerial vehicle detects. Compared with the mode that all electric control equipment is started in the whole process of inspection, the method is more energy-saving.
The present application may be further configured in a preferred example to: the preset duration T p satisfies:
Wherein, Respectively representing the detection time length required by detecting each preset detection point.
Through adopting above-mentioned technical scheme, to the electrical control equipment that has a plurality of check points of predetermineeing for unmanned aerial vehicle is when detecting all the check points of predetermineeing of this electrical control equipment, and this electrical control equipment can keep the state of starting, and when unmanned aerial vehicle accomplishes the detection to this electrical control equipment, electrical control equipment can also in time cut off the power supply, in order to reach energy-conserving effect.
The present application may be further configured in a preferred example to: after the step of receiving the detection information of the drone, the method further includes:
Analyzing the detection information according to an identification technology;
Judging whether the currently detected electric control equipment can work normally or not, and if not, outputting an alarm signal.
By adopting the technical scheme, when the electric control equipment is detected to be incapable of working normally, a warning is sent out so that the staff can maintain in time.
The application aims at providing a navigation system for inspection by using an unmanned plane, which has the characteristic of being convenient for inspecting stage equipment.
The second object of the present application is achieved by the following technical solutions:
a navigation system for inspection by unmanned plane comprises,
The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring stage models and position information of an unmanned aerial vehicle, and the stage models at least comprise category information and position information of each electric control device and position information of a preset detection point corresponding to each electric control device;
The determining module is used for determining a routing inspection path according to the position information of the unmanned aerial vehicle and the position information of each preset detection point; and
The output module is used for outputting inspection signals so as to control the unmanned aerial vehicle to sequentially detect each electronic control device according to the inspection path.
The application aims at providing an intelligent terminal which has the characteristic of being convenient for checking stage equipment.
The third object of the present application is achieved by the following technical solutions:
an intelligent terminal comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and execute the unmanned aerial vehicle inspection navigation method.
The fourth object of the present application is to provide a computer storage medium capable of storing a corresponding program, which has the characteristic of facilitating the inspection of stage equipment.
The fourth object of the present application is achieved by the following technical solutions:
A computer readable storage medium storing a computer program loadable by a processor and performing any one of the above methods for navigating using drones.
In summary, the present application includes at least one of the following beneficial technical effects:
1. According to the position information of the unmanned aerial vehicle, the fastest inspection path can be selected from the plurality of inspection paths, so that the unmanned aerial vehicle can conveniently detect various electric control devices on a stage, and meanwhile time is saved. Compared with the related art, the unmanned aerial vehicle not only can be convenient for checking special electric control equipment at some positions on the stage, but also can be convenient for checking all electric control equipment of the stage; 2. the only shortest inspection path can be formed by selecting one point at any time as the initial detection point, so that when the unmanned aerial vehicle is positioned at any position, the preset detection point which is closest to the position of the unmanned aerial vehicle is used as the initial detection point, the inspection path of the unmanned aerial vehicle is unique and shortest, and the unmanned aerial vehicle can conveniently detect all electronic control equipment of a stage.
3. When the unmanned aerial vehicle reaches a certain preset detection point, the electric control equipment corresponding to the preset detection point is controlled to be started for a preset time length so that the unmanned aerial vehicle can conveniently detect, and the energy-saving effect is achieved to a certain extent.
Drawings
Fig. 1 is a flowchart of a method for navigating by unmanned aerial vehicle inspection according to an embodiment of the application.
Fig. 2 is a schematic diagram of a system using a drone patrol navigation system according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of a terminal device or a server according to an embodiment of the present application.
In the figure, 21, an acquisition module; 22. a determining module; 23. an output module; 24. an analysis alarm module; 301. a CPU; 302. a ROM; 303. a RAM; 304. a bus; 305. an I/O interface; 306. an input section; 307. an output section; 308. a storage section; 309. a communication section; 310. a driver; 3311. removable media.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present application and is not to be construed as limiting the present application, and modifications to the present embodiment, which may not creatively contribute to the present application as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present application.
The embodiment of the application provides a method for performing inspection navigation by using an unmanned aerial vehicle, which is a method for controlling the unmanned aerial vehicle to perform inspection navigation by a controller and is mainly applied to large stages built in large outdoor activities or exhibitions. In general, electronic control devices such as lifting devices, audio devices, prompters, screens, dry ice sprayers, blowers, and lighting devices are provided on the stage. In order to ensure that the movement can be smoothly performed, and at the same time, from the viewpoint of safety, the whole stage is usually checked repeatedly before the start of the movement, so as to confirm that all the electronic control devices can work normally. The application utilizes unmanned aerial vehicle to automatically patrol and examine, in order to detect the above-mentioned electrical control equipment.
The main flow of the inspection navigation method by using the unmanned plane is described as follows.
As shown in fig. 1:
Step S101: the method comprises the steps of obtaining stage models and position information of unmanned aerial vehicles, wherein the stage models at least comprise category information and position information of each electric control device and position information of preset detection points corresponding to each electric control device.
Specifically, a stage model conforming to an actual stage is firstly obtained in a modeling mode. In addition, the electric control equipment such as lifting equipment, sound equipment, a prompter, a screen, a dry ice sprayer, a blower, light equipment and the like on an actual stage are all equipment to be detected. In order to facilitate detection by the unmanned aerial vehicle, the above-mentioned electronic control device is likewise arranged in the stage model. Meanwhile, in the stage model, the position information of the electronic control devices is required to be marked, so that the inspection path of the unmanned aerial vehicle can be planned according to the position information of the unmanned aerial vehicle.
It can be understood that, because the types of each type of electric control equipment in the electric control equipment such as lifting equipment, sound equipment, prompter, screen, dry ice sprayer, blower and lighting equipment are different, so that the detection mode of each type of electric control equipment is different, and the quantity of each type of electric control equipment arranged on the stage is also different, the type information of each type of electric control equipment needs to be acquired to detect different electric control equipment respectively. Specifically, each type of electronic control equipment can be provided with a plurality of preset detection points according to actual detection requirements, and when an unmanned aerial vehicle detects a certain electronic control equipment, the unmanned aerial vehicle needs to detect at each preset detection point of the electronic control equipment so as to ensure that the electronic control equipment can work normally. Here, a manner of setting the preset detection points is provided for illustration, in some embodiments, the audio device may be provided with three preset detection points, the light device may be provided with two preset detection points, the screen may be divided into a plurality of sub-screens, and one preset detection point may be provided on each sub-screen. Of course, the number of preset detection points of each electronic control device can be adaptively designed according to actual detection requirements, and only one mode is provided as a reference in the embodiment of the application.
It is worth to say that, the inspection path that unmanned aerial vehicle detected all electronic control equipment on the stage is formed based on the positional information of the default check point on every electronic control equipment. The setting mode of the preset detection point may be: the method comprises the steps of regarding the current electric control equipment as an origin, and setting a preset detection point for detecting the current electric control equipment on a ball with the origin as a sphere center and a radius of one meter. Of course, the radius length can be adaptively adjusted according to actual needs.
In the embodiment of the application, a GPS module positioning and navigation system is arranged in the unmanned aerial vehicle. The GPS module positioning and navigation system mainly comprises a GPS positioning system, an electronic map system and a navigation system. According to the method, the unmanned aerial vehicle can be precisely positioned by utilizing the GPS module according to the preset synchronous time or the quality of a ground control station, the positioning result is displayed on an electronic map, and the flight of the unmanned aerial vehicle is corrected according to the deviation of the unmanned aerial vehicle dynamic track and the planned route. It can be appreciated that the positioning function and the navigation function of the unmanned aerial vehicle are already mature technologies, and the method for acquiring the position information of the unmanned aerial vehicle is also already mature technologies, so the principles of the unmanned aerial vehicle will not be described in detail herein.
Step S102: and determining a routing inspection path according to the position information of the unmanned aerial vehicle and the position information of each preset detection point.
Optionally, step S102 includes the steps of:
constructing an alternative detection point library, wherein the alternative detection point library comprises n preset detection points;
selecting a preset detection point from the alternative detection point library as an initial detection point A 0;
selecting a next preset detection point A 1 closest to the initial detection point A 0 from the alternative detection point library;
Selecting a next preset detection point A 2 closest to the preset detection point A 1 from the alternative detection point library;
……
Selecting a next preset detection point A n-2 closest to the preset detection point A n-3 from the alternative detection point library;
Selecting a next preset detection point A n-1 closest to the preset detection point A n-2 from the alternative detection point library;
Wherein, after selecting a preset detection point from the candidate detection point library, marking the selected preset detection point as a non-candidate detection point;
The initial detection point A 0, the preset detection point A 1, the preset detection points A 2 and … …, the preset detection point A n-3, the preset detection point A n-2 and the preset detection point A n-1 are sequentially connected to form a patrol path.
It can be appreciated that in order to facilitate detection of all the electronic control devices on the stage, when the inspection path of the unmanned aerial vehicle is planned, all preset detection points on all the electronic control devices are stored in the alternative detection point library. Meanwhile, for convenience of explanation, the initial number of preset detection points in the candidate detection point library is denoted as n, where n=1, 2,3, … …, n, n is an integer and n is not less than 2.
When any one preset detection point is selected as the initial detection point A 0 for the first time in the alternative detection point library, marking the initial detection point A 0 as a non-alternative detection point, namely deleting the initial detection point A 0 from the alternative detection point library. When the preset detection point is selected from the alternative detection point library again, according to the position information of the initial detection point A 0 and the position information of all the preset detection points in the alternative detection point library, calculating the distances between all the preset detection points in the alternative detection point library and the initial detection point A 0, selecting the preset detection point closest to the initial detection point A 0 as the next preset detection point A 1, and marking the preset detection point A 1 as a non-alternative detection point. And by analogy, when the preset detection point is selected from the alternative detection point library every time, taking the position information of the preset detection point selected last time as a reference, selecting the preset detection point closest to the preset detection point as the next preset detection point according to the same calculation mode, and marking the currently selected preset detection point as a non-alternative detection point.
And taking the preset detection point as the last preset detection point A n-1 until only one preset monitoring point exists in the alternative detection point library. At this time, the initial detection point a 0, the preset detection point a 1, the preset detection points a 2 and … …, the preset detection point a n-3, the preset detection point a n-2 and the preset detection point a n-1 are sequentially connected to form a routing inspection path. It can be understood that the routing inspection path formed by selecting according to the above-mentioned selection manner of the preset detection points is the shortest routing inspection path formed when any preset detection point is selected as the initial detection point a 0 in the candidate detection point library. The unmanned aerial vehicle can be most convenient when patrolling and examining by planning a shortest route of patrolling and examining, has saved the time of patrolling and examining to a certain extent.
It should be noted that, according to any one of the preset detection points selected from the candidate detection point library as the initial detection point a 0, a shortest inspection path may be formed. In the embodiment of the application, from the viewpoint of convenience, when the initial detection point A 0 is selected from the candidate detection point library, the following method is adopted: and identifying one preset detection point closest to the unmanned aerial vehicle according to the position information of all the preset detection points, and taking the preset detection point as an initial detection point A 0.
Specifically, the distance between each preset detection point and the unmanned aerial vehicle is calculated according to the position information of the unmanned aerial vehicle and the position information of all preset detection points in the candidate detection point library, one preset detection point closest to the unmanned aerial vehicle is selected from the preset detection points as an initial detection point, one preset detection point closest to the unmanned aerial vehicle is identified according to the position information of all the preset detection points and is used as an initial detection point A 0, and a shortest path for unmanned aerial vehicle inspection is formed after the position information of the unmanned aerial vehicle is known.
Step S103: outputting a patrol signal to control the unmanned aerial vehicle to sequentially detect each electric control device according to the patrol path.
It can be appreciated that the controller outputs the inspection signal after forming the clear inspection path. When the unmanned aerial vehicle receives the inspection signal, each preset detection point can be detected according to the planned inspection path, and then all electric control equipment on the stage is detected.
Optionally, step S103 includes the steps of:
Judging whether the position information of the unmanned aerial vehicle is coincident with the position information of a certain preset detection point, if so, controlling an electronic control device corresponding to the preset detection point where the unmanned aerial vehicle is currently positioned to be started for a preset time length T p, and outputting a detection signal to control the unmanned aerial vehicle to detect; and if not, controlling the unmanned aerial vehicle to continue to move along the inspection path.
And receiving detection information of the unmanned aerial vehicle.
Specifically, when the unmanned aerial vehicle detects all the electric control devices in sequence along the inspection path, the unmanned aerial vehicle can move along the planned inspection path and detect when the unmanned aerial vehicle moves to the position of the preset detection point. In this process, the detection steps are specifically as follows: when the unmanned aerial vehicle is detected to be located at the position of the preset detection point, the controller can firstly acquire the type information of the electric control equipment corresponding to the preset detection point where the unmanned aerial vehicle is located, and then output a starting signal to control the electric control equipment corresponding to the preset detection point to be started for a preset time length T p. The preset duration T p is the opening time preset for all the electric control devices, so that the unmanned aerial vehicle can normally detect the corresponding electric control devices when any preset detection point is set. At the same time, the controller outputs a detection signal. When the unmanned aerial vehicle receives the detection signal, the unmanned aerial vehicle starts to detect corresponding electric control equipment, and the detection mode adopted specifically depends on the type of the electric control equipment. Such as: when detecting the sound equipment, the unmanned aerial vehicle can collect sound emitted by the sound equipment; when detecting the light equipment, the unmanned aerial vehicle can shoot the state image of the light equipment. Of course, only two detection methods are provided herein as references, but the detection methods employed by the unmanned aerial vehicle are not limited.
It should be noted that, because the types of all the electronic control devices on the stage are various, the detection modes are different, so that the detection time length used when the unmanned aerial vehicle detects on the corresponding preset detection point is different for the different types of electronic control devices. For convenience of distinction and explanation, the detection time length required for each of the above mentioned initial detection point a 0, preset detection point a 1, preset detection points a 2, … …, preset detection point a n-3, preset detection point a n-2 and preset detection point a n-1 is respectively and correspondingly marked asThe detection time length required by each preset detection point can be stored in the controller in advance.
In the above-mentioned detecting step, a process of moving from the current preset detecting point to the next preset detecting point is further included. The specific steps can be as follows: after the unmanned aerial vehicle stays at the preset detection point for a corresponding detection time length to finish detection of the preset detection point, the unmanned aerial vehicle outputs detection information of the preset detection point and goes to the next preset detection point. The detection information comprises position information of a current preset detection point, category information of electric control equipment corresponding to the current preset detection point and acquisition information acquired by the unmanned aerial vehicle.
Considering that a plurality of preset detection points are preset in one electric control device in the whole inspection process, if the preset time length T p for opening the electric control device is too short, the electric control device can be powered off and restarted in the process that the unmanned plane goes from one preset detection point of one electric control device to the next preset detection point of the electric control device. For this purpose, the preset time period T p should satisfy the following conditions:
the method further comprises the following steps of receiving the detection information of the unmanned aerial vehicle:
Analyzing the detection information according to an identification technology;
Judging whether the currently detected electric control equipment can work normally or not, and if not, outputting an alarm signal.
Because the unmanned aerial vehicle has multiple detection modes to the electrical control equipment, the recognition technology of the detection information formed aiming at each detection mode is different. Specifically, the identification technology includes: image recognition technology, voice recognition technology, and the like. For example: when the detection information is in the form of an image, the detection information can be analyzed by an image recognition technology, and whether the electric control equipment in the detection information can work normally, such as whether the lighting equipment can be lighted or not, and whether the dry ice spraying machine can spray or not is analyzed. When the detection information is in the form of sound, the analysis may be performed by a sound recognition technique, such as whether the acoustic device can emit sound. After the detection information is identified by the identification technology, if the current electric control equipment cannot work normally, the controller outputs an alarm signal to control alarm equipment such as a buzzer and the like to alarm, so that the current electric control equipment is convenient for workers to maintain or replace in time. The alarm signal can enable the alarm device to alarm, and further comprises the position information of the current electric control device and the position information of the corresponding problematic preset detection point, so that a worker can quickly find out the problematic electric control device and the problematic part of the electric control device in the stage.
Fig. 2 is a schematic diagram of a system for inspecting a navigation system by using an unmanned aerial vehicle according to an embodiment of the present application.
A navigation system for inspection with a drone, as shown in fig. 2, comprises an acquisition module 21, a determination module 22 and an output module 23, wherein:
The obtaining module 21 is configured to obtain location information of a stage model and an unmanned aerial vehicle, where the stage model includes at least category information and location information of each electronic control device and location information of a preset detection point corresponding to each electronic control device.
Specifically, a stage model conforming to an actual stage is firstly obtained in a modeling mode. In addition, the electric control equipment such as lifting equipment, sound equipment, a prompter, a screen, a dry ice sprayer, a blower, light equipment and the like on an actual stage are all equipment to be detected. In order to facilitate detection by the unmanned aerial vehicle, the above-mentioned electronic control device is likewise arranged in the stage model. Meanwhile, in the stage model, the position information of the electronic control devices is required to be marked, so that the inspection path of the unmanned aerial vehicle can be planned according to the position information of the unmanned aerial vehicle.
It can be understood that, because the types of each type of electric control equipment in the electric control equipment such as lifting equipment, sound equipment, prompter, screen, dry ice sprayer, blower and lighting equipment are different, so that the detection mode of each type of electric control equipment is different, and the quantity of each type of electric control equipment arranged on the stage is also different, the type information of each type of electric control equipment needs to be acquired to detect different electric control equipment respectively. Specifically, each type of electronic control equipment can be provided with a plurality of preset detection points according to actual detection requirements, and when an unmanned aerial vehicle detects a certain electronic control equipment, the unmanned aerial vehicle needs to detect at each preset detection point of the electronic control equipment so as to ensure that the electronic control equipment can work normally. Here, a manner of setting the preset detection points is provided for illustration, in some embodiments, the audio device may be provided with three preset detection points, the light device may be provided with two preset detection points, the screen may be divided into a plurality of sub-screens, and one preset detection point may be provided on each sub-screen. Of course, the number of preset detection points of each electronic control device can be adaptively designed according to actual detection requirements, and only one mode is provided as a reference in the embodiment of the application.
It is worth to say that, the inspection path that unmanned aerial vehicle detected all electronic control equipment on the stage is formed based on the positional information of the default check point on every electronic control equipment. The setting mode of the preset detection point may be: the method comprises the steps of regarding the current electric control equipment as an origin, and setting a preset detection point for detecting the current electric control equipment on a ball with the origin as a sphere center and a radius of one meter. Of course, the radius length can be adaptively adjusted according to actual needs.
In the embodiment of the application, a GPS module positioning and navigation system is arranged in the unmanned aerial vehicle. The GPS module positioning and navigation system mainly comprises a GPS positioning system, an electronic map system and a navigation system. According to the method, the unmanned aerial vehicle can be precisely positioned by utilizing the GPS module according to the preset synchronous time or the quality of a ground control station, the positioning result is displayed on an electronic map, and the flight of the unmanned aerial vehicle is corrected according to the deviation of the unmanned aerial vehicle dynamic track and the planned route. It can be appreciated that the positioning function and the navigation function of the unmanned aerial vehicle are already mature technologies, and the method for acquiring the position information of the unmanned aerial vehicle is also already mature technologies, so the principles of the unmanned aerial vehicle will not be described in detail herein.
The determining module 22 is configured to determine a routing inspection path according to the position information of the unmanned aerial vehicle and the position information of each preset inspection point.
It can be appreciated that, in order to facilitate detection of all the electronic control devices on the stage, when the inspection path of the unmanned aerial vehicle is planned, all the preset detection points on all the electronic control devices are stored in the candidate detection point library. Meanwhile, for convenience of explanation, the initial number of preset detection points in the candidate detection point library is denoted as n, where n=1, 2,3, … …, n, n is an integer and n is not less than 2.
When any one preset detection point is selected as the initial detection point A 0 for the first time in the alternative detection point library, marking the initial detection point A 0 as a non-alternative detection point, namely deleting the initial detection point A 0 from the alternative detection point library. When the preset detection point is selected from the alternative detection point library again, according to the position information of the initial detection point A 0 and the position information of all the preset detection points in the alternative detection point library, calculating the distances between all the preset detection points in the alternative detection point library and the initial detection point A 0, selecting the preset detection point closest to the initial detection point A 0 as the next preset detection point A 1, and marking the preset detection point A 1 as a non-alternative detection point. And by analogy, when the preset detection point is selected from the alternative detection point library every time, taking the position information of the preset detection point selected last time as a reference, selecting the preset detection point closest to the preset detection point as the next preset detection point according to the same calculation mode, and marking the currently selected preset detection point as a non-alternative detection point.
And taking the preset detection point as the last preset detection point A n-1 until only one preset monitoring point exists in the alternative detection point library. At this time, the initial detection point a 0, the preset detection point a 1, the preset detection points a 2 and … …, the preset detection point a n-3, the preset detection point a n-2 and the preset detection point a n-1 are sequentially connected to form a routing inspection path. It can be understood that the routing inspection path formed by selecting according to the above-mentioned selection manner of the preset detection points is the shortest routing inspection path formed when any preset detection point is selected as the initial detection point a 0 in the candidate detection point library. The unmanned aerial vehicle can be most convenient when patrolling and examining by planning a shortest route of patrolling and examining, has saved the time of patrolling and examining to a certain extent.
It should be noted that, according to any one of the preset detection points selected from the candidate detection point library as the initial detection point a 0, a shortest inspection path may be formed. In the embodiment of the application, from the viewpoint of convenience, when the initial detection point A 0 is selected from the candidate detection point library, the following method is adopted: identifying one preset detection point closest to the unmanned aerial vehicle according to the position information of all the preset detection points as an initial detection point A 0
Specifically, the distance between each preset detection point and the unmanned aerial vehicle is calculated according to the position information of the unmanned aerial vehicle and the position information of all preset detection points in the candidate detection point library, one preset detection point closest to the unmanned aerial vehicle is selected from the preset detection points as an initial detection point, one preset detection point closest to the unmanned aerial vehicle is identified according to the position information of all the preset detection points and is used as an initial detection point A 0, and a shortest path for unmanned aerial vehicle inspection is formed after the position information of the unmanned aerial vehicle is known.
The output module 23 is configured to output a routing inspection signal, so as to control the unmanned aerial vehicle to sequentially detect each electronic control device according to the routing inspection path.
Specifically, when the unmanned aerial vehicle detects all the electric control devices in sequence along the inspection path, the unmanned aerial vehicle can move along the planned inspection path and detect when the unmanned aerial vehicle moves to the position of the preset detection point. In this process, the detection steps are specifically as follows: when the unmanned aerial vehicle is detected to be located at the position of the preset detection point, the controller can firstly acquire the type information of the electric control equipment corresponding to the preset detection point where the unmanned aerial vehicle is located, and then output a starting signal to control the electric control equipment corresponding to the preset detection point to be started for a preset time length T p. The preset duration T p is the opening time preset for all the electric control devices, so that the unmanned aerial vehicle can normally detect the corresponding electric control devices when any preset detection point is set. At the same time, the controller outputs a detection signal. When the unmanned aerial vehicle receives the detection signal, the unmanned aerial vehicle starts to detect corresponding electric control equipment, and the detection mode adopted specifically depends on the type of the electric control equipment. Such as: when detecting the sound equipment, the unmanned aerial vehicle can collect sound emitted by the sound equipment; when detecting the light equipment, the unmanned aerial vehicle can shoot the state image of the light equipment. Of course, only two detection methods are provided herein as references, but the detection methods employed by the unmanned aerial vehicle are not limited.
It should be noted that, because the types of all the electronic control devices on the stage are various, the detection modes are different, so that the detection time length used when the unmanned aerial vehicle detects on the corresponding preset detection point is different for the different types of electronic control devices. For convenience of distinction and explanation, the detection time length required for each of the above mentioned initial detection point a 0, preset detection point a 1, preset detection points a 2, … …, preset detection point a n-3, preset detection point a n-2 and preset detection point a n-1 is respectively and correspondingly marked asThe detection time length required by each preset detection point can be stored in the controller in advance.
In the above-mentioned detecting step, a process of moving from the current preset detecting point to the next preset detecting point is further included. The specific steps can be as follows: after the unmanned aerial vehicle stays at the preset detection point for a corresponding detection time length to finish detection of the preset detection point, the unmanned aerial vehicle outputs detection information of the preset detection point and goes to the next preset detection point. The detection information comprises position information of a current preset detection point, category information of electric control equipment corresponding to the current preset detection point and acquisition information acquired by the unmanned aerial vehicle.
Considering that a plurality of preset detection points are preset in one electric control device in the whole inspection process, if the preset time length T p for opening the electric control device is too short, the electric control device can be powered off and restarted in the process that the unmanned plane goes from one preset detection point of one electric control device to the next preset detection point of the electric control device. For this purpose, the preset time period T p should satisfy the following conditions:
in addition, an analysis alarm module 24 may be included. The analysis alarm module 24 is used for analyzing the detection information according to the identification technology; judging whether the currently detected electric control equipment can work normally or not, and if not, outputting an alarm signal.
Because the unmanned aerial vehicle has multiple detection modes to the electrical control equipment, the recognition technology of the detection information formed aiming at each detection mode is different. Specifically, the identification technology includes: image recognition technology, voice recognition technology, and the like. For example: when the detection information is in the form of an image, the detection information can be analyzed by an image recognition technology, and whether the electric control equipment in the detection information can work normally, such as whether the lighting equipment can be lighted or not, and whether the dry ice spraying machine can spray or not is analyzed. When the detection information is in the form of sound, the analysis may be performed by a sound recognition technique, such as whether the acoustic device can emit sound. After the detection information is identified by the identification technology, if the current electric control equipment cannot work normally, the controller outputs an alarm signal to control alarm equipment such as a buzzer and the like to alarm, so that the current electric control equipment is convenient for workers to maintain or replace in time. The alarm signal can enable the alarm device to alarm, and further comprises the position information of the current electric control device and the position information of the corresponding problematic preset detection point, so that a worker can quickly find out the problematic electric control device and the problematic part of the electric control device in the stage.
Fig. 3 shows a schematic diagram of a structure of a terminal device or server suitable for implementing an embodiment of the application.
As shown in fig. 3, the terminal device or the server includes a Central Processing Unit (CPU) 301 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 302 or a program loaded from a storage section into a Random Access Memory (RAM) 303. In the RAM303, various programs and data required for the system operation are also stored. The CPU301, ROM302, and RAM303 are connected to each other through a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.
The following components are connected to the I/O interface 305: an input section 306 including a keyboard, a mouse, and the like; an output portion 307 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 308 including a hard disk or the like; and a communication section 309 including a network interface card such as a LAN card, a modem, or the like. The communication section 309 performs communication processing via a network such as the internet. The drive 310 is also connected to the I/O interface 305 as needed. A removable medium 311 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed on the drive 310 as needed, so that a computer program read therefrom is installed into the storage section 308 as needed.
In particular, the process described above with reference to flowchart fig. 1 may be implemented as a computer software program according to an embodiment of the application. For example, embodiments of the application include a computer program product comprising a computer program embodied on a machine-readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 309, and/or installed from the removable medium 311. The above-described functions defined in the system of the present application are performed when the computer program is executed by a Central Processing Unit (CPU) 301.
The computer readable medium shown in the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units or modules involved in the embodiments of the present application may be implemented in software or in hardware. The described units or modules may also be provided in a processor, for example, as: a processor includes an acquisition module 21, a determination module 22, an output module 23, and an analysis alarm module 24. The names of these units or modules do not constitute limitations on the units or modules themselves in some cases, and the acquisition module 21 may also be described as "a module for acquiring positional information of a stage model and a drone", for example.
As another aspect, the present application also provides a computer-readable storage medium, which may be contained in the terminal device described in the above embodiment; or may be present alone without being fitted into the terminal device. The computer-readable storage medium stores one or more programs that when executed by one or more processors perform the method for navigation using drones described in the present application.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application is not limited to the specific combinations of the features described above, but also covers other embodiments which may be formed by any combination of the features described above or their equivalents without departing from the spirit of the application. Such as the above-mentioned features and the technical features having similar functions (but not limited to) applied for in the present application are replaced with each other.
Claims (7)
1. The method for navigating by using the unmanned aerial vehicle is characterized by comprising the following steps of:
acquiring stage models and position information of unmanned aerial vehicles, wherein the stage models at least comprise category information and position information of each electric control device and position information of one or more preset detection points corresponding to each electric control device;
Determining a routing inspection path according to the position information of the unmanned aerial vehicle and the position information of each preset detection point;
outputting a patrol signal to control the unmanned aerial vehicle to detect each electronic control device in turn according to the patrol path;
The method for outputting the inspection signal to control the unmanned aerial vehicle to sequentially detect each electronic control device according to the inspection path comprises the following steps:
Judging whether the position information of the unmanned aerial vehicle is coincident with the position information of a certain preset detection point, if so, controlling an electronic control device corresponding to the preset detection point where the unmanned aerial vehicle is currently positioned to be started for a preset time length T p, and outputting a detection signal to control the unmanned aerial vehicle to detect;
receiving detection information of the unmanned aerial vehicle;
the preset duration T p satisfies:
Wherein, Respectively representing the detection time length required by detecting each preset detection point.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
The method for determining the routing inspection path according to the position information of the unmanned aerial vehicle and the position information of each preset detection point comprises the following steps:
constructing an alternative detection point library, wherein the alternative detection point library comprises n preset detection points;
selecting a preset detection point from the alternative detection point library as an initial detection point A 0;
Selecting a next preset detection point A 1 closest to the initial detection point A 0 from an alternative detection point library;
selecting a next preset detection point A 2 closest to the preset detection point A 1 from an alternative detection point library;
……
selecting a next preset detection point A n-2 closest to the preset detection point A n-3 from an alternative detection point library;
Selecting a next preset detection point A n-1 closest to the preset detection point A n-2 from an alternative detection point library;
Wherein, after selecting a preset detection point from the candidate detection point library, marking the selected preset detection point as a non-candidate detection point;
The initial detection point A 0, the preset detection point A 1, the preset detection points A 2 and … …, the preset detection point A n-3, the preset detection point A n-2 and the preset detection point A n-1 are sequentially connected to form the routing inspection path.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises,
The method for selecting a preset detection point as an initial detection point A 0 in the alternative detection point library comprises the following steps:
And identifying one preset detection point closest to the unmanned aerial vehicle according to the position information of all the preset detection points as an initial detection point A 0.
4. The method of claim 1, wherein the step of determining the position of the substrate comprises,
After the step of receiving the detection information of the drone, the method further includes:
Analyzing the detection information according to an identification technology;
Judging whether the currently detected electric control equipment can work normally or not, and if not, outputting an alarm signal.
5. A navigation system for inspection by using an unmanned aerial vehicle is characterized by comprising,
The system comprises an acquisition module (21) for acquiring stage models and position information of unmanned aerial vehicles, wherein the stage models at least comprise category information and position information of each electric control device and position information of preset detection points corresponding to each electric control device;
A determining module (22) for determining a routing inspection path according to the position information of the unmanned aerial vehicle and the position information of each preset detection point; and
The output module (23) is used for outputting a patrol signal so as to control the unmanned aerial vehicle to sequentially detect each electric control device according to the patrol path, and the method for outputting the patrol signal so as to control the unmanned aerial vehicle to sequentially detect each electric control device according to the patrol path comprises the following steps:
Judging whether the position information of the unmanned aerial vehicle is coincident with the position information of a certain preset detection point, if so, controlling an electronic control device corresponding to the preset detection point where the unmanned aerial vehicle is currently positioned to be started for a preset time length T p, and outputting a detection signal to control the unmanned aerial vehicle to detect;
receiving detection information of the unmanned aerial vehicle;
the preset duration T p satisfies:
Wherein, Respectively representing the detection time length required by detecting each preset detection point.
6. An intelligent terminal comprising a memory and a processor, said memory having stored thereon a computer program capable of being loaded by the processor and executing the method according to any of claims 1 to 4.
7. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs the method according to any of claims 1 to 4.
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