CN115793690A - Indoor inspection method, system and equipment for unmanned aerial vehicle - Google Patents
Indoor inspection method, system and equipment for unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses an indoor inspection method, an indoor inspection system and indoor inspection equipment for an unmanned aerial vehicle, wherein the indoor inspection method comprises the following steps: after a global coordinate system is established in response to the routing inspection request, positioning two-dimensional codes corresponding to a plurality of routing inspection points are determined, according to the size and the angular coordinate of the current positioning two-dimensional code corresponding to the current routing inspection point, a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system and an airplane coordinate system and a northeast coordinate system are determined, a third conversion matrix and a fourth conversion matrix of the two-dimensional code coordinate system and the routing inspection coordinate system of the current routing inspection point and the global coordinate system are established, a target conversion matrix is determined by adopting the first conversion matrix, the second conversion matrix, the third conversion matrix and the fourth conversion matrix, and the unmanned aerial vehicle is controlled to reach a target routing inspection coordinate and a target yaw angle determined according to the target conversion matrix and reach the current routing inspection point to execute routing inspection tasks. The whole unmanned aerial vehicle inspection process can dynamically plan an optimal air route according to the position of an inspection point, and the indoor inspection efficiency of the unmanned aerial vehicle is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an indoor inspection method, an indoor inspection system and indoor inspection equipment for an unmanned aerial vehicle.
Background
With the wide application of unmanned aerial vehicles in power inspection, the unmanned aerial vehicle has developed from manual inspection to automatic inspection for setting route planning for outdoor power transmission and distribution line inspection. However, the indoor power transformation equipment in the power industry still mainly depends on the inspection robot to perform inspection, the inspection efficiency is low, and the indoor power transformation equipment is easily limited by ground obstacles and has low stability.
In order to solve the problem, the patrol personnel patrol the unmanned aerial vehicle from the outdoor patrol and apply to the indoor patrol and examine. However, because the GPS and RTK accurate positioning information is not available indoors, the scheme of setting the air route planning in outdoor inspection is difficult to apply in a non-differentiated mode, and therefore the inspection efficiency of the unmanned aerial vehicle indoor inspection is low.
Disclosure of Invention
The invention provides an indoor inspection method, system and equipment for an unmanned aerial vehicle, and solves the technical problem that the inspection efficiency is low when the unmanned aerial vehicle is used for indoor inspection in the prior art.
The invention provides an indoor inspection method for an unmanned aerial vehicle, which comprises the following steps:
responding to the inspection request, establishing a global coordinate system, and determining positioning two-dimensional codes corresponding to a plurality of inspection points according to the global coordinate system;
identifying a current positioning two-dimensional code corresponding to a current inspection point through a six-direction vision system of the unmanned aerial vehicle, and acquiring the size of the current positioning two-dimensional code and four corner coordinates under a corresponding two-dimensional code coordinate system;
determining a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system and an airplane coordinate system and a northeast land coordinate system of the unmanned aerial vehicle respectively by adopting all the angular coordinates and the sizes;
constructing a third conversion matrix of the two-dimensional code coordinate system and the global coordinate system, and determining a patrol coordinate system of the current patrol point and a fourth conversion matrix of the global coordinate system;
determining a target conversion matrix of the inspection coordinate system and the northeast coordinate system according to the first conversion matrix, the second conversion matrix, the third conversion matrix and the fourth conversion matrix;
and controlling the unmanned aerial vehicle to reach the current inspection point to execute an inspection task according to the target inspection coordinate and the target yaw angle determined by the target conversion matrix.
Optionally, the step of responding to the inspection request, establishing a global coordinate system, and determining the positioning two-dimensional codes corresponding to the plurality of inspection points according to the global coordinate system includes:
responding to a polling request, establishing a global coordinate system, and acquiring a polling point set and a two-dimensional code set corresponding to the polling request;
according to the global coordinate system, respectively determining patrol coordinates and two-dimensional code coordinates corresponding to each patrol point in the patrol point set and each two-dimensional code in the two-dimensional code set;
and according to the two-dimensional code coordinates, determining the two-dimensional code closest to the distance of each inspection coordinate as a corresponding positioning two-dimensional code.
Optionally, the step of determining, by using all the angular coordinates and the size, a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system and an airplane coordinate system and a northeast coordinate system of the drone, respectively, includes:
constructing an airplane coordinate system and a northeast coordinate system of the unmanned aerial vehicle;
solving and outputting a first attitude quaternion and a first translation matrix of the two-dimensional code coordinate system and the aircraft coordinate system and a second attitude quaternion and a second translation matrix of the two-dimensional code coordinate system and the northeast land coordinate system based on a PNP algorithm by adopting all the angular coordinates and the sizes;
inputting a preset rotation matrix formula by respectively adopting the first attitude quaternion and the second attitude quaternion to generate a corresponding first rotation matrix and a corresponding second rotation matrix;
inputting the first translation matrix and the first rotation matrix into a preset conversion matrix formula, and determining a first conversion matrix;
inputting the second translation matrix and the second rotation matrix into a preset conversion matrix formula, and determining a second conversion matrix;
the rotation matrix formula is specifically as follows:
wherein, R represents a 3-by-3 rotation matrix, x, y and z respectively represent an x-axis component, a y-axis component and a z-axis component of a rotation vector of the attitude quaternion, and w represents a rotation angle of the rotation vector of the attitude quaternion;
the conversion matrix formula is specifically as follows:
wherein the content of the first and second substances,
a transformation matrix representing the a coordinate system to the B coordinate system,
a rotation matrix representing the a coordinate system to the B coordinate system,
a translation matrix representing the a coordinate system to the B coordinate system.
Optionally, the step of constructing a third transformation matrix of the two-dimensional code coordinate system and the global coordinate system, and determining a fourth transformation matrix of the patrol inspection coordinate system of the current patrol inspection point and the global coordinate system includes:
determining a first rotation angle and a first translation vector of three coordinate axes in the two-dimensional code coordinate system relative to the global coordinate system based on a ZYX rotation principle;
multiplying the three rotation angles to construct a corresponding third rotation matrix, and forming a corresponding third translation matrix by all the first translation vectors;
generating a third conversion matrix through the conversion matrix formula by adopting the third rotation matrix and the third translation matrix;
constructing a routing inspection coordinate system of the current routing inspection point;
and determining a fourth conversion matrix of the inspection coordinate system and the global coordinate system by adopting the conversion matrix formula according to the ZYX rotation principle.
Optionally, the step of determining a fourth transformation matrix of the inspection coordinate system and the global coordinate system by using the transformation matrix formula according to the ZYX rotation principle includes:
according to the ZYX rotation principle, determining a second rotation angle and a second translation vector of three coordinate axes in the inspection coordinate system relative to the global coordinate system;
performing multiplication operation on the three rotation angles to construct a corresponding fourth rotation matrix, and adopting all the second translation vectors to form a corresponding fourth translation matrix;
and inputting the fourth rotation matrix and the fourth translation matrix into the conversion matrix formula to form a fourth conversion matrix.
Optionally, the step of determining a target transformation matrix of the patrol inspection coordinate system and the northeast coordinate system according to the first transformation matrix, the second transformation matrix, the third transformation matrix, and the fourth transformation matrix includes:
performing multiplication operation by using the inverse matrix of the first conversion matrix and the second conversion matrix to construct a fifth conversion matrix of the airplane coordinate system and the northeast coordinate system;
and performing multiplication operation on the first conversion matrix, the inverse matrix of the third conversion matrix, the fourth conversion matrix and the fifth conversion matrix to generate a target conversion matrix of the inspection coordinate system and the northeast coordinate system.
Optionally, the step of controlling the unmanned aerial vehicle to reach the current patrol point and execute a patrol task according to the target patrol coordinate and the target yaw angle determined by the target transformation matrix includes:
extracting a corresponding target translation matrix and a corresponding target rotation matrix from the target conversion matrix;
analyzing the target translation matrix and outputting the target patrol coordinate;
calculating a target yaw angle by adopting the target rotation matrix through a preset Euler angle formula;
controlling the unmanned aerial vehicle to reach the current inspection point to execute an inspection task according to the target inspection coordinate and the target yaw angle;
the euler angle formula is specifically as follows:
roll＝atan2(R[1]，R[0])；
yaw＝atan2((R[6]*sin(roll)-R[7]*cos(roll))，(-1*R[3]*sin(roll)+R[4]*cos(roll)))；
where R denotes a 3 × 3 rotation matrix, roll denotes roll angle, yaw denotes yaw angle, and R [ ] denotes the nth matrix element in R.
Optionally, after the step of controlling the unmanned aerial vehicle to reach the current patrol point and execute the patrol task according to the target patrol coordinate and the target yaw angle determined by the target transformation matrix, the method includes:
when the patrol completion signal of the current patrol point is received, acquiring the next patrol point as a new current patrol point;
and skipping to execute the step of identifying the current positioning two-dimensional code corresponding to the current inspection point through a six-way vision system of the unmanned aerial vehicle and acquiring four corner coordinates under the global coordinate system until an inspection end signal is received.
The second aspect of the invention provides an indoor inspection system for an unmanned aerial vehicle, which comprises:
the positioning two-dimensional code determining module is used for responding to the routing inspection request, establishing a global coordinate system and determining positioning two-dimensional codes corresponding to the routing inspection points according to the global coordinate system;
the recognition module is used for recognizing a current positioning two-dimensional code corresponding to the current inspection point through a six-directional vision system of the unmanned aerial vehicle, and acquiring the size of the current positioning two-dimensional code and four corner coordinates under a corresponding two-dimensional code coordinate system;
the first matrix construction module is used for determining a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system and an airplane coordinate system and a northeast coordinate system of the unmanned aerial vehicle respectively by adopting all the angular coordinates and the sizes;
the second matrix construction module is used for constructing a third conversion matrix of the two-dimensional code coordinate system and the global coordinate system and determining a fourth conversion matrix of the patrol coordinate system of the current patrol point and the global coordinate system;
a target transformation matrix construction module, configured to determine a target transformation matrix of the inspection coordinate system and the northeast coordinate system according to the first transformation matrix, the second transformation matrix, the third transformation matrix, and the fourth transformation matrix;
and the inspection task execution module is used for controlling the unmanned aerial vehicle to reach the current inspection point to execute an inspection task according to the target inspection coordinate and the target yaw angle determined by the target conversion matrix.
A third aspect of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the unmanned aerial vehicle indoor inspection method according to any one of the first aspect of the present invention.
According to the technical scheme, the invention has the following advantages:
according to the method, after a global coordinate system is established by responding to a polling request, positioning two-dimensional codes corresponding to a plurality of polling points are determined according to the global coordinate system, according to the size and four corner coordinates of the current positioning two-dimensional codes corresponding to the current polling points, a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system, an airplane coordinate system of the unmanned aerial vehicle and a northeast coordinate system are determined respectively, a third conversion matrix and a fourth conversion matrix of the two-dimensional code coordinate system and the current polling coordinate system of the polling points, respectively, the global coordinate system are determined by adopting the first conversion matrix, the second conversion matrix, the third conversion matrix and the fourth conversion matrix, a target conversion matrix of the polling coordinate system and the northeast coordinate system is determined by adopting the first conversion matrix, the second conversion matrix, the third conversion matrix and the fourth conversion matrix, and the unmanned aerial vehicle is controlled to reach the current polling points to execute a polling task according to the target coordinates and the target yaw angle determined by the target conversion matrix. In the whole unmanned aerial vehicle inspection process, the mutual position relation between the two-dimensional codes is converted into the coordinate information which is mutually independent under the global coordinate system, the strong dependence relation between the two-dimensional codes is decoupled, an optimal air route can be dynamically planned according to the position of an inspection point, and the indoor inspection efficiency of the unmanned aerial vehicle is improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating steps of an indoor inspection method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating steps of an indoor inspection method for an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 3 is a block diagram of a structure of an indoor inspection system for an unmanned aerial vehicle according to a third embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an indoor inspection method, system and equipment for an unmanned aerial vehicle, which are used for solving the technical problem of low inspection efficiency in indoor inspection of the unmanned aerial vehicle in the prior art.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating steps of an indoor inspection method for an unmanned aerial vehicle according to an embodiment of the present invention.
The invention provides an indoor inspection method for an unmanned aerial vehicle, which comprises the following steps:
And the inspection request refers to request information sent by a demand end platform capable of supporting the indoor inspection application of the unmanned aerial vehicle.
And the global coordinate system is used as a reference coordinate system of the two-dimensional code for patrol points and indoor deployment.
And the inspection point refers to a place where the unmanned aerial vehicle needs to be inspected in an inspection route.
The location two-dimensional code refers to the two-dimensional code that is used for assisting unmanned aerial vehicle to carry out when patrolling and examining the task that corresponds to patrolling and examining the point and fix a position.
In the embodiment of the invention, when an inspection request sent by any demand end platform supporting the indoor inspection application of the unmanned aerial vehicle is received, an original point of a global coordinate system is determined in an indoor environment needing inspection, the global coordinate system is constructed, meanwhile, a plurality of two-dimensional codes are deployed in the indoor environment, after a plurality of inspection points of an inspection route corresponding to the inspection request are determined, the two-dimensional codes corresponding to all the inspection points are determined to serve as positioning two-dimensional codes according to the condition that the coordinates of the two-dimensional codes and the inspection points in the global coordinate system correspondingly meet the preset distance relationship.
102, identifying a current positioning two-dimensional code corresponding to the current inspection point through a six-direction vision system of the unmanned aerial vehicle, and acquiring the size of the current positioning two-dimensional code and four angular coordinates of the current positioning two-dimensional code under a corresponding two-dimensional code coordinate system.
The two-dimensional code coordinate system refers to a coordinate system in a positioning two-dimensional code image, the center of the two-dimensional code image is used as a coordinate system original point, the coordinate system original point is in the positive x-axis direction rightward, the coordinate system original point is in the positive y-axis direction upward, and the coordinate system original point is perpendicular to the two-dimensional code image and faces towards the unmanned aerial vehicle identification side to be in the positive z-axis direction.
In the embodiment of the invention, after the positioning code corresponding to the current inspection point is determined as the current positioning two-dimensional code according to the received inspection route, the unmanned aerial vehicle is controlled to take off from the position of the origin of the global coordinate system to move to the coordinate of the current positioning two-dimensional code in the global coordinate system, the current positioning two-dimensional code is searched and identified through the six-way vision system of the unmanned aerial vehicle, the angular coordinates of four angular points of the current positioning two-dimensional code on the image, namely the angular coordinates of the corresponding two-dimensional code coordinate system are determined, and the image size of the current positioning two-dimensional code is obtained.
And 103, determining a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system and the airplane coordinate system and the northeast land coordinate system of the unmanned aerial vehicle respectively by adopting all the angular coordinates and the sizes.
The aircraft coordinate system refers to the IMU coordinate system that unmanned aerial vehicle corresponds the aircraft nose orientation when discernment location two-dimensional code to the midpoint of unmanned aerial vehicle organism is as the coordinate system initial point, and unmanned aerial vehicle's aircraft nose orientation is the x axle positive direction, and unmanned aerial vehicle's the right-hand y axle positive direction that is of aircraft nose, and unmanned aerial vehicle's aircraft nose is the z axle positive direction perpendicularly downwards.
And the northeast coordinate system refers to a world coordinate system with the unmanned aerial vehicle flying point as a coordinate origin.
In the embodiment of the invention, the three-dimensional coordinates corresponding to the positioning codes are determined based on all the angular coordinates and the image size of the current positioning two-dimensional code, and the three-dimensional coordinates are adopted to determine a first conversion matrix of a two-dimensional code coordinate system relative to an airplane coordinate system of the unmanned aerial vehicle and a second conversion matrix of the two-dimensional code coordinate system relative to a northeast land coordinate system.
It can be understood that the angular coordinate recognized by the six-directional vision system of the unmanned aerial vehicle is only a two-dimensional coordinate, and after the angular coordinate is converted into a normalized coordinate, the three-dimensional coordinate corresponding to each angular point is determined by combining the dimensions of the two-dimensional code. The process can refer to the prior art, and is not described in detail herein.
And 104, constructing a third conversion matrix of the two-dimensional code coordinate system and the global coordinate system, and determining a fourth conversion matrix of the routing inspection coordinate system and the global coordinate system of the current routing inspection point.
And the inspection coordinate system refers to an IMU coordinate system corresponding to the orientation of the machine head when the unmanned aerial vehicle is in the inspection point position.
In the embodiment of the invention, according to different positions where the positioning two-dimensional codes are deployed, parameters of the two-dimensional code coordinate system corresponding to the positioning two-dimensional codes in a rotating and translating mode to be coincident with the origin of the global coordinate system are different, and a conversion matrix with the global coordinate system needs to be constructed according to the two-dimensional code coordinate system corresponding to the current positioning two-dimensional codes and serves as a third conversion matrix. Meanwhile, due to the fact that the positions of the inspection points are different and the positioning two-dimensional codes corresponding to each inspection point are different, when the two-dimensional code coordinates of the corresponding current positioning two-dimensional codes are moved to the coordinates of the inspection point where the current inspection point is located, the head orientations of the unmanned aerial vehicle are different, and the conversion matrix of the inspection coordinate system and the global coordinate system of the unmanned aerial vehicle when the current inspection point is located needs to be determined to serve as a fourth conversion matrix.
And 105, determining a target conversion matrix of the inspection coordinate system and the northeast coordinate system according to the first conversion matrix, the second conversion matrix, the third conversion matrix and the fourth conversion matrix.
In the embodiment of the invention, the transformation matrix of the patrol inspection coordinate system and the northeast coordinate system is calculated and determined as the target transformation matrix according to the coordinate system transformation relation corresponding to the first transformation matrix, the second transformation matrix, the third transformation matrix and the fourth transformation matrix.
And 106, controlling the unmanned aerial vehicle to reach the current inspection point to execute an inspection task according to the target inspection coordinate and the target yaw angle determined by the target conversion matrix.
The target patrol coordinate and the target yaw angle refer to patrol coordinates and a yaw angle which are correspondingly determined when the unmanned aerial vehicle moves from the two-dimensional code coordinate where the positioning two-dimensional code is located to the patrol point coordinate where the current patrol point is located according to navigation of a northeast coordinate system.
In the embodiment of the invention, after the target inspection coordinate and the target yaw angle of the northeast coordinate system are determined by decomposing the target conversion matrix according to the target conversion matrix of the inspection coordinate system and the northeast coordinate system, the unmanned aerial vehicle is controlled to reach the current inspection point according to the target inspection coordinate and the target yaw angle, and the inspection task corresponding to the current inspection point is executed.
In the embodiment of the invention, after a global coordinate system is established in response to a polling request, positioning two-dimensional codes corresponding to a plurality of polling points are determined according to the global coordinate system, a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system, an airplane coordinate system of the unmanned aerial vehicle and a northeast coordinate system are determined according to the size and four corner coordinates of the current positioning two-dimensional code corresponding to the current polling point, a third conversion matrix and a fourth conversion matrix of the two-dimensional code coordinate system and the polling coordinate system of the current polling point, the global coordinate system and the northeast coordinate system are respectively established, a target conversion matrix of the polling coordinate system and the northeast coordinate system is determined by adopting the first conversion matrix, the second conversion matrix, the third conversion matrix and the fourth conversion matrix, and the unmanned aerial vehicle is controlled to reach the current polling point to execute a polling task according to the target polling coordinates and the target yaw angle determined by the target conversion matrix. In the whole unmanned aerial vehicle inspection process, the mutual position relation between the two-dimensional codes is converted into the coordinate information which is mutually independent under the global coordinate system, the strong dependence relation between the two-dimensional codes is decoupled, an optimal air route can be dynamically planned according to the position of an inspection point, and the indoor inspection efficiency of the unmanned aerial vehicle is improved.
Referring to fig. 2, fig. 2 is a flowchart illustrating steps of an indoor inspection method for an unmanned aerial vehicle according to a second embodiment of the present invention.
The invention provides an indoor inspection method for an unmanned aerial vehicle, which comprises the following steps:
step 201, responding to the inspection request, establishing a global coordinate system, and determining the positioning two-dimensional codes corresponding to a plurality of inspection points according to the global coordinate system.
Optionally, step 201 comprises the sub-steps of:
responding to the inspection request, establishing a global coordinate system, and acquiring an inspection point set and a two-dimensional code set corresponding to the inspection request;
respectively determining patrol coordinates and two-dimensional code coordinates corresponding to each patrol point in the patrol point set and each two-dimensional code in the two-dimensional code set according to the global coordinate system;
and according to the two-dimension code coordinates, determining the two-dimension code closest to each patrol coordinate as the corresponding positioning two-dimension code.
And the inspection point set refers to a set of inspection points on which the unmanned aerial vehicle needs to execute an inspection task.
The two-dimensional code set refers to a set of two-dimensional codes deployed in an indoor environment where the unmanned aerial vehicle patrols and examines.
In the embodiment of the invention, when a routing inspection request sent by any one demand end platform supporting indoor routing inspection application of an unmanned aerial vehicle is received, a global coordinate system is constructed, the routing inspection request is analyzed, a two-dimensional code set deployed in a corresponding indoor routing inspection environment and a routing inspection point set for routing inspection are obtained, routing inspection coordinates of routing inspection points in the global coordinate system are determined, two-dimensional code coordinates of the two-dimensional codes in the global coordinate system are determined, the distance between the two-dimensional code coordinates and the routing inspection coordinates is calculated based on a distance formula between the two points, and the distance is used as a screening basis, and the two-dimensional codes closest to the routing inspection points are respectively selected from the two-dimensional code set and used as positioning two-dimensional codes corresponding to each routing inspection point.
In the embodiment of the present invention, the specific implementation process of step 202 is similar to step 102, and is not described herein again.
And 203, determining a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system and the airplane coordinate system of the unmanned aerial vehicle and the north east land coordinate system respectively by adopting all the angular coordinates and the sizes.
Optionally, step 203 comprises the sub-steps of:
constructing an airplane coordinate system and a northeast coordinate system of the unmanned aerial vehicle;
solving and outputting a first attitude quaternion and a first translation matrix of a two-dimensional code coordinate system and an airplane coordinate system and a second attitude quaternion and a second translation matrix of the two-dimensional code coordinate system and a northeast land coordinate system based on a PNP algorithm by adopting all angular coordinates and sizes;
inputting a preset rotation matrix formula by respectively adopting a first attitude quaternion and a second attitude quaternion to generate a corresponding first rotation matrix and a corresponding second rotation matrix;
inputting the first translation matrix and the first rotation matrix into a preset conversion matrix formula, and determining a first conversion matrix;
inputting the second translation matrix and the second rotation matrix into a preset conversion matrix formula, and determining a second conversion matrix;
the rotation matrix formula is specifically:
wherein, R represents a 3-by-3 rotation matrix, x, y and z respectively represent an x-axis component, a y-axis component and a z-axis component of a rotation vector of the attitude quaternion, and w represents a rotation angle of the rotation vector of the attitude quaternion;
the conversion matrix formula is specifically:
wherein, the first and the second end of the pipe are connected with each other,
a transformation matrix representing the a coordinate system to the B coordinate system,
a rotation matrix representing the a coordinate system to the B coordinate system,
a translation matrix representing the a coordinate system to the B coordinate system.
It is understood that the transition matrices include a rotation matrix and a translation matrix, wherein the transition matrix is a 4 x 4 matrix, the rotation matrix is a 3 x 3 matrix, and the translation matrix is a 3 x 1 matrix.
In the embodiment of the invention, after an airplane coordinate system and a northeast land coordinate system of an unmanned aerial vehicle are constructed, three-dimensional coordinates corresponding to each corner point of a two-dimensional code are obtained according to all angle coordinates and the image size of the currently positioned two-dimensional code, pose solving is carried out by adopting all three-dimensional coordinates based on a PNP algorithm, a first attitude quaternion and a first translation matrix of the two-dimensional code coordinate system and the airplane coordinate system and a second attitude quaternion and a second translation matrix of the two-dimensional code coordinate system and the northeast land coordinate system are generated, a corresponding first rotation matrix and a corresponding second rotation matrix are respectively calculated by adopting the first attitude quaternion and the second attitude quaternion through a preset rotation matrix formula, and a first conversion matrix corresponding to the first translation matrix and the first rotation matrix and a second conversion matrix corresponding to the second translation matrix and the second rotation matrix are respectively constructed according to a conversion matrix formula.
It can be understood that, reference may be made to the prior art for the process of solving the pose based on the PNP algorithm, and details are not described herein again.
And 204, constructing a third conversion matrix of the two-dimensional code coordinate system and the global coordinate system, and determining a fourth conversion matrix of the patrol coordinate system of the current patrol point and the global coordinate system.
Optionally, step 204 comprises the sub-steps of:
s1, determining a first rotation angle and a first translation vector of three coordinate axes in a two-dimensional code coordinate system relative to a global coordinate system based on a ZYX rotation principle;
s2, multiplying the three rotation angles to construct a corresponding third rotation matrix, and translating all the rotation angles by the first vector to form a corresponding third translation matrix;
s3, generating a third conversion matrix through a conversion matrix formula by adopting a third rotation matrix and a third translation matrix;
s4, constructing a patrol coordinate system of the current patrol point;
and S5, determining a fourth conversion matrix of the inspection coordinate system and the global coordinate system by adopting a conversion matrix formula according to a ZYX rotation principle.
Optionally, substep S5 comprises:
determining a second rotation angle and a second translation vector of three coordinate axes in the inspection coordinate system relative to the global coordinate system according to a ZYX rotation principle;
performing multiplication operation through the three rotation angles to construct a corresponding fourth rotation matrix, and adopting all second translation vectors to form a corresponding fourth translation matrix;
and inputting the fourth rotation matrix and the fourth translation matrix into a conversion matrix formula to form a fourth conversion matrix.
The ZYX rotation principle refers to a rotation sequence of the coordinate system rotating around the z axis, then around the y axis and finally around the x axis.
In the embodiment of the invention, a first rotation angle and a first translation vector of a global coordinate system, which is obtained by rotating and translating three coordinate axes in a two-dimensional code coordinate system, are respectively determined according to a ZYX rotation principle, a multiplication result of the three first rotation angles is used as a rotation matrix between the two-dimensional code coordinate system and the global coordinate system to be a third rotation matrix, all the translation first vectors form a corresponding third translation matrix, and a third conversion matrix between the two-dimensional code coordinate system and the global coordinate system is constructed by adopting the third rotation matrix and the third translation matrix according to a conversion matrix formula. And constructing a patrol coordinate system corresponding to the current patrol point, determining a second rotation angle and a second translational vector of converting three coordinate axes of the patrol coordinate system into a global coordinate system according to a ZYX rotation principle, and generating a fourth conversion matrix between the patrol coordinate system and the global coordinate system according to the second rotation angle and the second translational vector by referring to the construction process of a third conversion matrix.
It can be understood that the formula for constructing the third rotation matrix is specifically:
the formula for constructing the third translation matrix is specifically as follows:
wherein R is z (angle)、R y (angle) and R x (angle) represents a rotation angle around the z-axis, around the y-axis, and around the x-axis, respectively, and t represents a rotation angle around the x-axis x 、t y And t z Representing translation vectors moving along the x, y and z axes, respectively.
And step 205, determining a target conversion matrix of the patrol inspection coordinate system and the northeast coordinate system according to the first conversion matrix, the second conversion matrix, the third conversion matrix and the fourth conversion matrix.
Optionally, step 205 comprises the sub-steps of:
performing multiplication operation by using the inverse matrix of the first conversion matrix and the second conversion matrix to construct a fifth conversion matrix of the airplane coordinate system and the northeast land coordinate system;
and performing multiplication operation on the inverse matrix of the first conversion matrix and the third conversion matrix, the fourth conversion matrix and the fifth conversion matrix to generate a target conversion matrix of the patrol inspection coordinate system and the northeast coordinate system.
In the embodiment of the invention, according to the coordinate system conversion relation of the first conversion matrix and the second conversion matrix, the inverse matrix of the first conversion matrix and the second conversion matrix are adopted to carry out multiplication operation to obtain a fifth conversion matrix which is the conversion matrix of the airplane coordinate system and the northeast coordinate system, and according to the multiplication operation results of the inverse matrix of the first conversion matrix, the third conversion matrix, the fourth conversion matrix and the fifth conversion matrix, a target conversion matrix of the patrol coordinate system and the northeast coordinate system is generated.
And step 206, controlling the unmanned aerial vehicle to reach the current inspection point to execute the inspection task according to the target inspection coordinate and the target yaw angle determined by the target conversion matrix.
Optionally, step 206 comprises the sub-steps of:
extracting a corresponding target translation matrix and a corresponding target rotation matrix from the target conversion matrix;
analyzing the target translation matrix and outputting a target inspection coordinate;
calculating a target yaw angle by adopting a target rotation matrix through a preset Euler angle formula;
controlling the unmanned aerial vehicle to reach the current inspection point to execute an inspection task according to the target inspection coordinate and the target yaw angle;
the euler angle formula is specifically:
roll＝atan2(R[1]，R[0])；
yaw＝atan2((R[6]*sin(roll)-R[7]*cos(roll))，(-1*R[3]*sin(roll)+R[4]*cos(roll)))；
where R denotes a 3 × 3 rotation matrix, roll denotes roll angle, yaw denotes yaw angle, and R [ ] denotes the nth matrix element in R.
It is understood that R represents a 3 x 3 rotation matrix, R [ ] represents the nth matrix element in R, where n =0,1,2,3,4,5,6,7,8, then R [0] represents the first row and column of matrix elements in R, R [1] represents the first row and column of matrix elements in R, R [3] represents the second row and column of matrix elements in R, R [4] represents the second row and column of matrix elements in R, R [6] represents the third row and column of matrix elements in R, and R [7] represents the third row and column of matrix elements in R. sin (), cos (), and atan2 () represent a sine function, a cosine function, and an atan2 function, respectively.
In the embodiment of the invention, a corresponding target translation matrix and a corresponding target rotation matrix can be extracted from a target conversion matrix according to a conversion matrix formula, the target translation matrix is analyzed to obtain the coordinate of the current patrol inspection point in a northeast coordinate system as a target patrol inspection coordinate, a target yaw angle is obtained by extracting corresponding matrix elements from the target rotation matrix according to a preset Euler angle formula and calculating, and the unmanned aerial vehicle is controlled to reach the current patrol inspection point according to the target patrol inspection coordinate and the target yaw angle to execute a patrol inspection task.
And step 207, when the patrol inspection completion signal of the current patrol inspection point is received, acquiring the next patrol inspection point as a new current patrol inspection point.
In the embodiment of the invention, the patrol request corresponds to a plurality of patrol points, if the patrol of the current patrol point is finished and there are patrol points which are not patrol, the corresponding patrol finishing signal is received, and the next patrol point is obtained as a new current patrol point according to the patrol sequence of the patrol points in the route corresponding to the patrol request corresponding to the patrol finishing signal.
And 208, skipping to execute the step of identifying the current positioning two-dimensional code corresponding to the current inspection point through a six-way vision system of the unmanned aerial vehicle and acquiring four angular coordinates under the global coordinate system until an inspection end signal is received.
In the embodiment of the invention, after a new current inspection point is determined, the step of identifying the current positioning two-dimensional code corresponding to the current inspection point through a six-way vision system of the unmanned aerial vehicle is skipped to execute, and the four angular coordinates under the global coordinate system are obtained until the inspection is completed at the inspection point, and then an inspection ending signal is received.
In the embodiment of the invention, after a global coordinate system is established in response to a polling request, positioning two-dimensional codes corresponding to a plurality of polling points are determined according to the global coordinate system, a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system, an airplane coordinate system of an unmanned aerial vehicle and a northeast coordinate system are determined according to the size and four corner coordinates of the current positioning two-dimensional code corresponding to the current polling point, a third conversion matrix and a fourth conversion matrix of the two-dimensional code coordinate system and the polling coordinate system of the current polling point, the global coordinate system and the northeast coordinate system are respectively established, the first conversion matrix, the second conversion matrix, the third conversion matrix and the fourth conversion matrix are adopted to determine a target conversion matrix of the polling coordinate system and the northeast coordinate system, the unmanned aerial vehicle is controlled to reach the current polling point to execute a polling task according to the target coordinates and the target yaw angle determined by the target conversion matrix, and after the task of the current polling point is executed, the next polling point is obtained as a new current polling point to continue until a route corresponding to the polling request is completed. In the whole unmanned aerial vehicle inspection process, the mutual position relation between the two-dimensional codes is converted into the coordinate information which is mutually independent under the global coordinate system, the strong dependence relation between the two-dimensional codes is decoupled, an optimal air route can be dynamically planned according to the position of an inspection point, and the indoor inspection efficiency of the unmanned aerial vehicle is improved.
Referring to fig. 3, fig. 3 is a block diagram of an indoor inspection system for an unmanned aerial vehicle according to a third embodiment of the present invention.
The invention provides an indoor inspection system of an unmanned aerial vehicle, which comprises:
the positioning two-dimensional code determining module 301 is configured to respond to the inspection request, establish a global coordinate system, and determine positioning two-dimensional codes corresponding to the plurality of inspection points according to the global coordinate system;
the identification module 302 is used for identifying a current positioning two-dimensional code corresponding to the current inspection point through a six-direction vision system of the unmanned aerial vehicle, and acquiring the size of the current positioning two-dimensional code and four corner coordinates under a corresponding two-dimensional code coordinate system;
the first matrix building module 303 is configured to determine a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system and an airplane coordinate system and a northeast coordinate system of the unmanned aerial vehicle, respectively, by using all the angular coordinates and the sizes;
the second matrix construction module 304 is configured to construct a third conversion matrix of the two-dimensional code coordinate system and the global coordinate system, and determine a fourth conversion matrix of the patrol inspection coordinate system and the global coordinate system of the current patrol inspection point;
a target transformation matrix constructing module 305, configured to determine a target transformation matrix of the inspection coordinate system and the northeast coordinate system according to the first transformation matrix, the second transformation matrix, the third transformation matrix, and the fourth transformation matrix;
and the inspection task execution module 306 is configured to control the unmanned aerial vehicle to reach the current inspection point to execute the inspection task according to the target inspection coordinate and the target yaw angle determined by the target conversion matrix.
Optionally, the positioning two-dimensional code determining module 301 is specifically configured to:
responding to the inspection request, establishing a global coordinate system, and acquiring an inspection point set and a two-dimensional code set corresponding to the inspection request;
respectively determining patrol coordinates and two-dimensional code coordinates corresponding to each patrol point in the patrol point set and each two-dimensional code in the two-dimensional code set according to a global coordinate system;
and determining the two-dimensional code closest to each inspection coordinate as a corresponding positioning two-dimensional code according to the two-dimensional code coordinates.
Optionally, the first matrix building module 303 is specifically configured to:
constructing an airplane coordinate system and a northeast coordinate system of the unmanned aerial vehicle;
solving and outputting a first attitude quaternion and a first translation matrix of the two-dimensional code coordinate system and the aircraft coordinate system and a second attitude quaternion and a second translation matrix of the two-dimensional code coordinate system and the northeast land coordinate system based on a PNP algorithm by adopting all the angular coordinates and the sizes;
inputting a preset rotation matrix formula by respectively adopting the first attitude quaternion and the second attitude quaternion to generate a corresponding first rotation matrix and a corresponding second rotation matrix;
inputting the first translation matrix and the first rotation matrix into a preset conversion matrix formula, and determining a first conversion matrix;
inputting the second translation matrix and the second rotation matrix into a preset conversion matrix formula, and determining a second conversion matrix;
the rotation matrix formula is specifically as follows:
wherein, R represents a 3-by-3 rotation matrix, x, y and z respectively represent an x-axis component, a y-axis component and a z-axis component of a rotation vector of the attitude quaternion, and w represents a rotation angle of the rotation vector of the attitude quaternion;
the conversion matrix formula is specifically as follows:
wherein the content of the first and second substances,
a transformation matrix representing the a coordinate system to the B coordinate system,
a rotation matrix representing the a coordinate system to the B coordinate system,
a translation matrix representing the a coordinate system to the B coordinate system.
Optionally, the second matrix constructing module 304 is specifically configured to:
determining a first rotation angle and a first translation vector of three coordinate axes in the two-dimensional code coordinate system relative to the global coordinate system based on a ZYX rotation principle;
multiplying the three rotation angles to construct a corresponding third rotation matrix, and forming a corresponding third translation matrix by all the first translation vectors;
generating a third conversion matrix through the conversion matrix formula by adopting the third rotation matrix and the third translation matrix;
constructing a patrol coordinate system of the current patrol point;
and determining a fourth conversion matrix of the inspection coordinate system and the global coordinate system by adopting the conversion matrix formula according to the ZYX rotation principle.
Optionally, the second matrix building module 304 is further specifically configured to:
determining a second rotation angle and a second translation vector of three coordinate axes in the inspection coordinate system relative to the global coordinate system according to the ZYX rotation principle;
performing multiplication operation on the three rotation angles to construct a corresponding fourth rotation matrix, and adopting all the second translation vectors to form a corresponding fourth translation matrix;
and inputting the fourth rotation matrix and the fourth translation matrix into the conversion matrix formula to form a fourth conversion matrix.
Optionally, the target transformation matrix constructing module 305 is specifically configured to:
performing multiplication operation by using the inverse matrix of the first conversion matrix and the second conversion matrix to construct a fifth conversion matrix of the airplane coordinate system and the northeast coordinate system;
and performing multiplication operation on the first conversion matrix, the inverse matrix of the third conversion matrix, the fourth conversion matrix and the fifth conversion matrix to generate a target conversion matrix of the inspection coordinate system and the northeast coordinate system.
Optionally, the patrol task execution module 306 is specifically configured to:
extracting a corresponding target translation matrix and a corresponding target rotation matrix from the target conversion matrix;
analyzing the target translation matrix and outputting the target patrol coordinate;
calculating a target yaw angle by adopting the target rotation matrix through a preset Euler angle formula;
controlling the unmanned aerial vehicle to reach the current inspection point to execute an inspection task according to the target inspection coordinate and the target yaw angle;
the euler angle formula is specifically as follows:
roll＝atan2(R[1]，R[0])；
yaw＝atan2((R[6]*sin(roll)-R[7]*cos(roll))，(-1*R[3]*sin(roll)+R[4]*cos(roll)))；
where R denotes a 3 × 3 rotation matrix, roll denotes a roll angle, yaw denotes a yaw angle, and R [ ] denotes the nth matrix element in R.
Optionally, the patrol task execution module 306 is further configured to:
when the patrol completion signal of the current patrol point is received, acquiring the next patrol point as a new current patrol point;
and skipping to execute the step of identifying the current positioning two-dimensional code corresponding to the current inspection point through a six-way vision system of the unmanned aerial vehicle and acquiring four angular coordinates under the global coordinate system until an inspection end signal is received.
The embodiment of the invention also provides electronic equipment which comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the unmanned aerial vehicle indoor inspection method disclosed by any embodiment of the invention.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An indoor inspection method for an unmanned aerial vehicle is characterized by comprising the following steps:
responding to the inspection request, establishing a global coordinate system, and determining positioning two-dimensional codes corresponding to a plurality of inspection points according to the global coordinate system;
identifying a current positioning two-dimensional code corresponding to a current inspection point through a six-way vision system of the unmanned aerial vehicle, and acquiring the size of the current positioning two-dimensional code and four corner coordinates under a corresponding two-dimensional code coordinate system;
determining a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system and an airplane coordinate system and a northeast land coordinate system of the unmanned aerial vehicle respectively by adopting all the angular coordinates and the sizes;
constructing a third conversion matrix of the two-dimensional code coordinate system and the global coordinate system, and determining a patrol coordinate system of the current patrol point and a fourth conversion matrix of the global coordinate system;
determining a target conversion matrix of the patrol coordinate system and the northeast coordinate system according to the first conversion matrix, the second conversion matrix, the third conversion matrix and the fourth conversion matrix;
and controlling the unmanned aerial vehicle to reach the current inspection point to execute an inspection task according to the target inspection coordinate and the target yaw angle determined by the target conversion matrix.
2. The indoor unmanned aerial vehicle inspection method according to claim 1, wherein the step of responding to the inspection request, establishing a global coordinate system, and determining the positioning two-dimensional codes corresponding to the plurality of inspection points according to the global coordinate system includes:
responding to a polling request, establishing a global coordinate system, and acquiring a polling point set and a two-dimensional code set corresponding to the polling request;
according to the global coordinate system, respectively determining patrol coordinates and two-dimensional code coordinates corresponding to each patrol point in the patrol point set and each two-dimensional code in the two-dimensional code set;
and determining the two-dimensional code closest to each inspection coordinate as a corresponding positioning two-dimensional code according to the two-dimensional code coordinates.
3. The unmanned aerial vehicle indoor inspection method according to claim 1, wherein the step of determining the first and second transformation matrices of the two-dimensional code coordinate system and the unmanned aerial vehicle's aircraft coordinate system and northeast coordinate system, respectively, using all of the angular coordinates and the dimensions includes:
constructing an airplane coordinate system and a northeast coordinate system of the unmanned aerial vehicle;
solving and outputting a first attitude quaternion and a first translation matrix of the two-dimensional code coordinate system and the aircraft coordinate system and a second attitude quaternion and a second translation matrix of the two-dimensional code coordinate system and the northeast land coordinate system based on a PNP algorithm by adopting all the angular coordinates and the sizes;
inputting a preset rotation matrix formula by respectively adopting the first attitude quaternion and the second attitude quaternion to generate a corresponding first rotation matrix and a corresponding second rotation matrix;
inputting the first translation matrix and the first rotation matrix into a preset conversion matrix formula, and determining a first conversion matrix;
inputting the second translation matrix and the second rotation matrix into a preset conversion matrix formula, and determining a second conversion matrix;
the rotation matrix formula is specifically as follows:
wherein, R represents a 3 × 3 rotation matrix, x, y and z respectively represent an x-axis component, a y-axis component and a z-axis component of a rotation vector of the attitude quaternion, and w represents a rotation angle of the rotation vector of the attitude quaternion;
the conversion matrix formula is specifically as follows:
wherein the content of the first and second substances,
a transformation matrix representing the a coordinate system to the B coordinate system,
a rotation matrix representing the a coordinate system to the B coordinate system,
a translation matrix representing the a coordinate system to the B coordinate system.
4. The unmanned aerial vehicle indoor inspection method according to claim 3, wherein the step of constructing a third transformation matrix of the two-dimensional code coordinate system and the global coordinate system and determining a fourth transformation matrix of the inspection coordinate system and the global coordinate system of the current inspection point includes:
determining a first rotation angle and a first translation vector of three coordinate axes in the two-dimensional code coordinate system relative to the global coordinate system based on a ZYX rotation principle;
multiplying the three rotation angles to construct a corresponding third rotation matrix, and forming a corresponding third translation matrix by all the first translation vectors;
generating a third conversion matrix through the conversion matrix formula by adopting the third rotation matrix and the third translation matrix;
constructing a routing inspection coordinate system of the current routing inspection point;
and determining a fourth conversion matrix of the inspection coordinate system and the global coordinate system by adopting the conversion matrix formula according to the ZYX rotation principle.
5. The unmanned aerial vehicle indoor inspection method according to claim 4, wherein the step of determining a fourth transformation matrix of the inspection coordinate system and the global coordinate system by using the transformation matrix formula according to the ZYX rotation principle includes:
determining a second rotation angle and a second translation vector of three coordinate axes in the inspection coordinate system relative to the global coordinate system according to the ZYX rotation principle;
performing multiplication operation on the three rotation angles to construct a corresponding fourth rotation matrix, and adopting all the second translation vectors to form a corresponding fourth translation matrix;
and inputting the fourth rotation matrix and the fourth translation matrix into the conversion matrix formula to form a fourth conversion matrix.
6. The unmanned aerial vehicle indoor inspection method according to claim 1, wherein the step of determining a target transformation matrix of the inspection coordinate system and the northeast coordinate system based on the first transformation matrix, the second transformation matrix, the third transformation matrix, and the fourth transformation matrix includes:
performing multiplication operation by using the inverse matrix of the first conversion matrix and the second conversion matrix to construct a fifth conversion matrix of the airplane coordinate system and the northeast coordinate system;
and performing multiplication operation on the first conversion matrix, the inverse matrix of the third conversion matrix, the fourth conversion matrix and the fifth conversion matrix to generate a target conversion matrix of the patrol coordinate system and the northeast coordinate system.
7. The indoor unmanned aerial vehicle inspection method according to claim 1, wherein the step of controlling the unmanned aerial vehicle to reach the current inspection point to execute the inspection task according to the target inspection coordinates and the target yaw angle determined by the target transformation matrix comprises the steps of:
extracting a corresponding target translation matrix and a corresponding target rotation matrix from the target conversion matrix;
analyzing the target translation matrix and outputting the target inspection coordinate;
calculating a target yaw angle by adopting the target rotation matrix through a preset Euler angle formula;
controlling the unmanned aerial vehicle to reach the current inspection point to execute an inspection task according to the target inspection coordinate and the target yaw angle;
the euler angle formula is specifically as follows:
roll＝atan2(R[1]，R[0])；
yaw＝atan2((R[6]*sin(roll)-R[7]*cos(roll))，(-1*R[3]*sin(roll)+R[4]*cos(roll)))；
where R denotes a 3 × 3 rotation matrix, roll denotes a roll angle, yaw denotes a yaw angle, and R [ ] denotes the nth matrix element in R.
8. The indoor unmanned aerial vehicle inspection method according to claim 1, wherein after the step of controlling the unmanned aerial vehicle to reach the current inspection point to execute the inspection task according to the target inspection coordinate and the target yaw angle determined by the target transformation matrix, the method comprises:
when the patrol inspection completion signal of the current patrol inspection point is received, acquiring the next patrol inspection point as a new current patrol inspection point;
and skipping to execute the step of identifying the current positioning two-dimensional code corresponding to the current inspection point through a six-way vision system of the unmanned aerial vehicle and acquiring four corner coordinates under the global coordinate system until an inspection end signal is received.
9. The utility model provides an indoor system of patrolling and examining of unmanned aerial vehicle which characterized in that includes:
the positioning two-dimensional code determining module is used for responding to the inspection request, establishing a global coordinate system and determining positioning two-dimensional codes corresponding to a plurality of inspection points according to the global coordinate system;
the identification module is used for identifying a current positioning two-dimensional code corresponding to the current inspection point through a six-direction vision system of the unmanned aerial vehicle, and acquiring the size of the current positioning two-dimensional code and four corner coordinates under a corresponding two-dimensional code coordinate system;
the first matrix construction module is used for determining a first conversion matrix and a second conversion matrix of the two-dimensional code coordinate system and an airplane coordinate system and a northeast coordinate system of the unmanned aerial vehicle respectively by adopting all the angular coordinates and the sizes;
the second matrix construction module is used for constructing a third conversion matrix of the two-dimensional code coordinate system and the global coordinate system and determining a fourth conversion matrix of the routing inspection coordinate system of the current routing inspection point and the global coordinate system;
a target transformation matrix construction module, configured to determine a target transformation matrix of the inspection coordinate system and the northeast coordinate system according to the first transformation matrix, the second transformation matrix, the third transformation matrix, and the fourth transformation matrix;
and the inspection task execution module is used for controlling the unmanned aerial vehicle to reach the current inspection point to execute an inspection task according to the target inspection coordinate and the target yaw angle determined by the target conversion matrix.
10. An electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and wherein the computer program, when executed by the processor, causes the processor to perform the steps of the unmanned aerial vehicle indoor inspection method according to any one of claims 1-8.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116843748A (en) * | 2023-09-01 | 2023-10-03 | 上海仙工智能科技有限公司 | Remote two-dimensional code and object space pose acquisition method and system thereof |
| CN117130392A (en) * | 2023-10-26 | 2023-11-28 | 深圳森磊弘泰消防科技有限公司 | Unmanned aerial vehicle for indoor positioning navigation based on BIM data and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116843748A (en) * | 2023-09-01 | 2023-10-03 | 上海仙工智能科技有限公司 | Remote two-dimensional code and object space pose acquisition method and system thereof |
| CN116843748B (en) * | 2023-09-01 | 2023-11-24 | 上海仙工智能科技有限公司 | Remote two-dimensional code and object space pose acquisition method and system thereof |
| CN117130392A (en) * | 2023-10-26 | 2023-11-28 | 深圳森磊弘泰消防科技有限公司 | Unmanned aerial vehicle for indoor positioning navigation based on BIM data and control method |
| CN117130392B (en) * | 2023-10-26 | 2024-02-20 | 深圳森磊弘泰消防科技有限公司 | Unmanned aerial vehicle for indoor positioning navigation based on BIM data and control method |
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