WO2021237545A1

WO2021237545A1 - Inspection method for poles and towers, and unmanned aerial vehicle, control apparatus, system and storage medium

Info

Publication number: WO2021237545A1
Application number: PCT/CN2020/092739
Authority: WO
Inventors: 张伟; 颜江
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-05-27
Filing date: 2020-05-27
Publication date: 2021-12-02
Also published as: CN112955845A

Abstract

An inspection method for poles and towers, and an unmanned aerial vehicle (100), a control apparatus (200), an inspection system (300) and a computer-readable storage medium. The method comprises: acquiring a starting inspection waypoint of the next pole and tower (A, B, C, D) (S101); acquiring a flight policy, and after completing the inspection of the last inspection waypoint for the current pole and tower (A, B, C, D), flying, according to the flight policy, from the last inspection waypoint of the current pole and tower (A, B, C, D) to the starting inspection waypoint of the next pole and tower (A, B, C, D) (S102); and at the next pole and tower (A, B, C, D) and starting from the starting inspection waypoint, performing inspection on a plurality of inspection waypoints that include the starting inspection waypoint (S103). Inspection tasks between a plurality of poles and towers (A, B, C, D) are coherently executed, thereby improving the inspection efficiency.

Description

Tower inspection method, unmanned aerial vehicle, control device, system and storage medium

Technical field

This application relates to the field of inspection technology, and in particular to a pole tower inspection method, unmanned aerial vehicle, control device, system, and storage medium.

Background technique

In industry applications, power inspection is an application scenario with great market demand. Using drone autonomous flight technology can greatly improve inspection efficiency.

The current electric power inspection process is: inspect and teach each tower that needs to be inspected, and then the drone will fly according to the teaching content and collect photos. The patrol instruction specifically includes: power patrol personnel control the drone to fly, hover in a suitable position, take photos for fault diagnosis, and the drone records the current location information and photo information.

However, the existing UAV power inspection program is only for a single tower, and there is no connection between multiple towers.

Summary of the invention

Based on this, this application provides a pole tower inspection method, unmanned aerial vehicle, control device, system, and storage medium.

In the first aspect, this application provides a pole tower inspection method, which is applied to an unmanned aerial vehicle, and the method includes:

Get the starting patrol waypoint of the next tower;

Acquire the flight strategy, and after the last inspection waypoint of the current tower is completed, fly from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower according to the flight strategy;

At the next tower, inspections are performed on multiple inspection waypoints including the initial inspection waypoint starting from the initial inspection waypoint.

In the second aspect, the present application provides a pole tower inspection method, which is applied to the control end, and the method includes:

Acquire the starting inspection waypoint of the next tower, and send the starting inspection waypoint of the next tower to the drone;

Obtain the flight strategy, and send the flight strategy to the UAV, so that the UAV will start from the last inspection waypoint of the current tower according to the flight strategy after the inspection of the last inspection waypoint of the current tower is completed. One patrol waypoint flies to the starting patrol waypoint of the next tower, and starts from the starting patrol pat Inspect the waypoints for inspection.

In the third aspect, this application provides an unmanned aerial vehicle, including: a memory and a processor;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

Get the starting patrol waypoint of the next tower;

In a fourth aspect, the present application provides a control device, including: a memory and a processor;

The memory is used to store a computer program;

In a fifth aspect, the present application provides a pole-tower inspection system, the pole-tower inspection system including the above-mentioned UAV and the above-mentioned control device.

In a sixth aspect, the present application provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor realizes the process described in the first aspect above. Pole tower inspection method.

In a seventh aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the above-mentioned second aspect Pole tower inspection method.

The embodiment of the application provides a pole tower inspection method, unmanned aerial vehicle, control device, system, and storage medium to obtain the starting inspection waypoint of the next tower; to obtain the flight strategy, in the last inspection of the current tower After the waypoint inspection is completed, fly from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower according to the flight strategy; at the next tower, start from the starting inspection waypoint Start to conduct inspections on multiple inspection waypoints including the initial inspection waypoint. Since the last inspection waypoint for the current tower is completed, the flight strategy will be followed from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower acquired; at the next tower. Starting from the starting patrol waypoint, patrol inspections are performed on multiple patrol waypoints including the starting patrol waypoint; compared with the existing patrol only for a single tower, each need to be patrolled The inspected poles and towers are inspected individually. This application can continuously inspect multiple poles and towers to connect the inspections between multiple poles and towers, so that the inspection tasks between multiple poles and towers can be performed continuously, which can greatly improve The efficiency of the tower inspection.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic flow chart of an embodiment of a pole tower inspection method according to the present application;

2 is a schematic flowchart of another embodiment of the pole tower inspection method according to the present application;

FIG. 3 is a schematic diagram of an embodiment of obstacle avoidance and bypassing in the pole tower inspection method of the present application;

4 is a schematic flowchart of another embodiment of the pole tower inspection method according to the present application;

FIG. 5 is a schematic diagram of an embodiment of high-altitude flight in the pole tower inspection method of the present application;

FIG. 6 is a schematic flowchart of another embodiment of the pole tower inspection method according to the present application;

FIG. 7 is a schematic diagram of an embodiment of planning an optimal inspection path in the pole tower inspection method of the present application;

FIG. 8 is a schematic flowchart of another embodiment of the pole tower inspection method according to the present application;

FIG. 9 is a schematic structural diagram of an embodiment of the drone of the present application;

Fig. 10 is a schematic structural diagram of an embodiment of a control device of the present application;

FIG. 11 is a schematic structural diagram of an embodiment of the pole and tower inspection system of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

In industry applications, the existing power inspection process is: patrol and teach each tower that needs to be inspected, and then the drone will fly according to the teaching content and collect photos. However, the existing UAV power inspection program is only for a single tower, and there is no connection between multiple towers.

The embodiment of the application obtains the starting inspection waypoint of the next tower; obtains the flight strategy, and after the inspection of the last inspection waypoint for the current tower is completed, the flight strategy is followed from the last inspection waypoint of the current tower. Point to fly to the starting patrol waypoint of the next tower; start from the starting patrol waypoint on the next tower for multiple patrol waypoints including the starting patrol waypoint Inspection. Since the last inspection waypoint for the current tower is completed, the flight strategy will be followed from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower acquired; at the next tower. Starting from the starting patrol waypoint, patrol inspections are performed on multiple patrol waypoints including the starting patrol waypoint; compared with the existing patrol only for a single tower, each need to be patrolled The inspected poles and towers are inspected one by one individually. This application can continuously inspect multiple poles and towers to connect the inspections between multiple poles and towers, so that the inspection tasks between multiple poles and towers can be executed continuously, and batch inspections are automatically completed. Inspection, which can greatly improve the efficiency of pole tower inspection.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Referring to Fig. 1, Fig. 1 is a schematic flowchart of an embodiment of a tower inspection method according to the present application. The method of this embodiment is applied to an unmanned aerial vehicle, and the method includes:

Step S101: Obtain the starting patrol waypoint of the next tower.

Step S102: Obtain the flight strategy. After the last inspection waypoint of the current tower is completed, fly from the last inspection waypoint of the current tower to the start inspection waypoint of the next tower according to the flight strategy. .

Step S103: starting from the starting patrol waypoint on the next tower, patrol inspections are performed on multiple patrol waypoints including the starting patrol waypoint.

In this embodiment, the acquisition of the starting patrol waypoint of the next tower in step S101 and the acquisition of the flight strategy in step S102 can be obtained by the drone from its own source, that is, the drone has pre-determined the start of the next tower Inspection waypoints and pre-determined flight strategy; it can also be obtained from the control device, that is, the control device sends the determined starting inspection waypoint of the next tower and the determined flight strategy to the UAV. The aircraft receives the initial patrol waypoint and flight strategy of the next tower sent by the control device (see the method applied to the control terminal later).

A tower usually includes multiple inspection waypoints. The initial inspection waypoint can be the first inspection waypoint of a tower, and the last inspection waypoint can be the last inspection waypoint of a tower. The patrol inspection of one patrol waypoint is finished, and the patrol inspection of the tower is finished.

The flight strategy can be a flight plan from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower.

When the pole tower is inspected, the inspection usually starts from the initial inspection waypoint of the tower. After the initial inspection waypoint is completed, the next inspection waypoint is inspected until the last inspection. After the waypoint inspection is over, then the inspection of this tower is over, and then fly to the starting inspection waypoint of the next tower, so that you can immediately start the inspection of the next tower from the starting inspection waypoint of the next tower. Inspection can improve the efficiency of inspection.

The embodiment of the application obtains the starting inspection waypoint of the next tower; obtains the flight strategy, and after the inspection of the last inspection waypoint for the current tower is completed, the flight strategy is followed from the last inspection waypoint of the current tower. Point to fly to the starting patrol waypoint of the next tower; start from the starting patrol waypoint on the next tower for multiple patrol waypoints including the starting patrol waypoint Inspection. Since the last inspection waypoint for the current tower is completed, the flight strategy will be followed from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower acquired; at the next tower. Starting from the starting patrol waypoint, patrol inspections are performed on multiple patrol waypoints including the starting patrol waypoint; compared with the existing patrol only for a single tower, each need to be patrolled The inspected poles and towers are inspected one by one individually. This application can continuously inspect multiple poles and towers to connect the inspections between multiple poles and towers, so that the inspection tasks between multiple poles and towers can be executed continuously, and batch inspections are automatically completed. Inspection, which can greatly improve the efficiency of the tower inspection.

The specific content of step S102 is described in detail below.

Referring to Figure 2, the straight line between the two points is the shortest. In one embodiment, a straight-line flight strategy is adopted, that is, in step S102, the flight strategy is acquired. The flight strategy flying from the last inspection waypoint of the current tower to the initial inspection waypoint of the next tower may include: sub-step S102A1 and sub-step S102A2.

Sub-step S102A1: Obtain a straight-line flight strategy.

Sub-step S102A2: After the last inspection waypoint of the current tower is completed, follow the straight line flight strategy from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower. .

Since the straight line between two points is the shortest, the straight-line flight strategy can reduce the flight distance as much as possible, shorten the flight time, save the flight cost, and improve the inspection efficiency.

When flying in a straight line, obstacles may be encountered on the flight path. Therefore, the method may further include: if an obstacle is detected in the process of flying in a straight line, avoiding the obstacle by avoiding the obstacle to reach the destination. The starting patrol waypoint of the next tower.

The essence of UAV obstacle avoidance is to use the obstacle avoidance algorithm to plan the path during the flight of the UAV. According to whether the UAV knows the flight environment, the obstacle avoidance algorithm can be roughly divided into two categories: global path planning and local path planning, selection When avoiding obstacles, not only the effectiveness of the algorithm must be considered, but also the physical performance of the UAV itself. Global path planning belongs to static planning. It is all the environmental information that the UAV knows to fly before moving. According to the obstacle information on the flight path, a safe path from the starting position to the target position is given; of course, it can also be planned in advance. Obstacles are bypassed according to the pre-stored route. Local path planning belongs to dynamic planning. It refers to the location of the flying environment or local location of the UAV before the flight. The UAV calculates the path in real time according to the detection sensor to obtain the obstacle information on the path in real time during the flight. The calculation amount of the local path planning is too small. , Real-time performance is better. In practical applications, the global path planning algorithm and the local path planning algorithm can be flexibly selected according to the environment around the tower to be inspected, or the two can be combined for obstacle avoidance.

In this embodiment, obstacles (such as tree branches, birds, other unknown objects, etc.) can be avoided by avoiding obstacles when an obstacle is detected during a straight flight, and can ensure the safety of flight.

For example, see Figure 3. The two five-pointed star symbols in the figure represent the last patrol waypoint A of the current tower and the starting patrol waypoint B of the next tower. The cross-shaped symbol in the figure represents the process of flying along the straight line AB. Detected obstacle C; AD-DB avoids the obstacle by avoiding obstacles.

Further, if an obstacle is detected during the flight along a straight line, avoiding the obstacle by avoiding the obstacle and reaching the starting patrol waypoint of the next tower may also include:

A. During the flight along a straight line, the environment map is constructed through the observation data of the sensor.

B. If an obstacle is encountered in the environment map, the obstacle avoidance algorithm is used to actively avoid the obstacle and resume straight flight to the starting inspection waypoint of the next tower.

In this embodiment, the environment map is constructed by the observation data of the sensor, which can grasp more complete environmental information, and when the obstacle avoidance algorithm is used to actively avoid the obstacle, the UAV can avoid the obstacle more accurately.

Wherein, the sensor includes at least one of laser radar, millimeter wave radar or vision sensor.

Wherein, the obstacle avoidance algorithm includes A star algorithm and dynamic window algorithm.

The A-star algorithm is one of the more popular heuristic search algorithms and is widely used in the field of path optimization; its unique feature is that it introduces global information when inspecting each possible node in the shortest path, and does a calculation of the distance between the current node and the end point. An estimate is made and used as a measure to evaluate the possibility that the node is on the shortest path. The dynamic window algorithm (Dynamic Window Approach, DWA) is an important local trajectory planning algorithm, which can obtain a good local path planning effect.

When the drone encounters small-area obstacles such as telegraph poles, cable-stayed wires, and small trees on the route, it can avoid the obstacles by avoiding the obstacles. In the case that the obstacle avoidance detour cannot be completed, the method further includes: if the obstacle avoidance detour cannot be completed, stopping the obstacle avoidance detour and issuing a prompt, which is relatively simple and safe.

Referring to Fig. 4, in another embodiment, since the high altitude is completely empty, the probability of obstacles appearing is extremely small. You can fly directly at high altitude and avoid obstacles directly, especially if the terrain is too complicated and the flight path is straight. When there are too many obstacles, in step S102, the flight strategy is acquired, and after the last inspection waypoint of the current tower is completed, the flight strategy is followed to fly from the last inspection waypoint of the current tower to The starting patrol waypoint of the next tower may also include: sub-step S102B1 and sub-step S102B2.

Sub-step S102B1: Obtain a high-altitude flight strategy of a preset height, where the preset height is greater than the height of the tower and can avoid obstacles.

Sub-step S102B2: According to the high-altitude flight strategy, ascend from the last patrol waypoint of the current tower to the preset height, fly at the preset height to directly above the next tower, and then land on the The starting patrol waypoint of the next tower.

In this embodiment, the drone is made to fly directly at high altitude, so that the drone rises from the last patrol waypoint of the current tower to the preset height, and then flies to the front of the next tower at the preset height. And then land to the starting patrol waypoint of the next tower. In this way, obstacles can be avoided directly, especially if the terrain is too complicated and there are too many obstacles in the straight flight path, the safety of the flight can be ensured.

For example, referring to Figure 5, after the inspection is completed at the last inspection waypoint of the current tower 1 (that is, the inspection end point of the current tower 1), first ascend to an altitude of 120m, and then fly at an altitude of 120m to reach the front of the next tower 2. Go up, and then land to reach the starting point of the inspection of the next tower 2.

Wherein, the preset height is determined according to at least one of the surrounding environment, terrain, and restricted flying height of the tower.

The detailed content related to step S101 is specifically described below.

Referring to FIG. 6, in one embodiment, the poles and towers are pre-divided into pole and tower groups, and each pole and tower group includes more than two poles and towers. For example, when the surrounding environment of the tower is relatively empty, when the terrain is not complicated, etc., more than two towers can be divided into a tower group; at this time, in step S101, the initial inspection navigation of the next tower is obtained. The point may include: sub-step S1011 and sub-step S1012.

Sub-step S1011: Obtain the next tower according to the inspection path of the tower group where the current tower is located. The inspection path of the tower group where the current tower is located includes more than two towers.

Sub-step S1012: According to multiple inspection waypoints of the next tower, determine the starting inspection waypoint of the next tower.

If there is no pre-inspection path of the tower group where the current tower is located, the sub-step S1011 according to the inspection path of the tower group where the current tower is located, before acquiring the next tower, may further include: acquiring the inspection path of the tower group where the current tower is located .

In practical applications, there are two ways to obtain the inspection path of the tower group where the current tower is located:

In the first type, acquiring the inspection path of the current tower group may include: obtaining the current tower group according to the number of towers that need to be inspected and the flight cost between every two towers. The most optimized inspection path.

In this embodiment, the flight cost is determined according to at least one of the flight distance, the degree of flight danger, and the terrain distribution. According to the number of poles that need to be inspected in the tower group where the current tower is located, and the flight cost between every two towers, obtain the optimal inspection path of the tower group where the current tower is located. In this way, the most time-saving inspection can be obtained. The path is helpful for subsequent batch planning of inspection tasks.

Refer to Figure 7. Suppose there are 4 towers A, B, C, and D that need to be inspected. At the same time, the flight cost between each two towers is known, such as the flight distance and the degree of flight danger. When the flight cost is higher Larger, the greater the value on the connecting side; the task now is to plan the optimal inspection path, traverse 4 poles and towers that need to be inspected, and at the same time pass all the flight costs and minimum. This can be regarded as a classic traveling salesman problem (Travelling Salesman Problem, TSP), and ready-made solutions such as recursive traversal and greedy algorithms can be used.

In the second type, the acquisition of the patrol path of the tower group where the current tower is located may include: the distance that the battery can fly according to the power of the battery, the flight cost between every two towers including the current tower, and the distribution of charging piles Position, to obtain the current inspection path including the current pole and tower and the first landing charging pile position after the end of the inspection according to the current inspection path. The flight cost of the last inspection waypoint of a tower is the lowest.

If there are many poles and towers to be inspected, and the inspection cannot be completed in one flight of the drone, it is necessary to consider configuring a charging pile to charge the drone in the middle. In this embodiment, according to the distance that the battery can fly, the flight cost between every two towers including the current tower, and the distribution position of the charging piles, the current inspection path including the current tower is obtained. At the same time, it also obtains the first landing charging pile position after the inspection of this inspection path, so that the UAV can inspect the last waypoint of the last tower in the inspection path after the inspection is completed. It can fly to the position of the first landing charging pile for charging at the lowest flight cost, thereby reducing unnecessary flight cost.

Wherein, the method further includes: flying from the last inspection waypoint of the last pole tower of the current inspection path to the position of the first landing charging pile for charging after the inspection according to the current inspection path is completed.

For example: if the remaining power is not enough to maintain the flight to the next tower after the inspection according to the current inspection path is completed; or if the remaining power is not enough to maintain the next tower group after the inspection is completed according to the current inspection path At this time, you can fly from the last inspection waypoint of the last pole tower of this inspection path to the first landing charging pile position for charging. In this way, on the one hand, the safety of flight can be ensured On the other hand, it can also ensure the efficiency of inspection.

Further, the method further includes: after the charging is completed, obtaining the starting patrol route point of the next pole that needs to be patrolled and with the lowest flight cost from the first landing charging pile position; charging from the first landing Fly the pile position to the starting inspection waypoint of the next tower to continue the inspection.

Of course, some tower groups can also include only one tower, for example, the terrain around the tower is complicated, or the tower is far away from other towers, or the flying environment around the tower is not good, harsh or dangerous, etc.; at this time; , The method further includes: if the number of poles in the tower group where the current pole is located is one, after the last patrol waypoint for the current pole tower is completed, fly from the last patrol waypoint of the current pole to the distance The last patrol waypoint of the current tower is the second landing charging pile position with the lowest flight cost for charging.

If there is no grouping in advance, step S101, before acquiring the starting patrol waypoint of the next tower, it may also include: according to the topographic features of the multiple towers to be inspected and the altitude of each tower , Divide the multiple pole towers into multiple pole tower groups, and each pole tower group includes more than one pole tower.

Referring to Fig. 8, Fig. 8 is a schematic flow chart of another embodiment of the pole-tower inspection method of this application. The method of this embodiment is applied to the control end. It should be noted that the method of this embodiment is the same as the above-mentioned method applied to drones The content is basically the same, that is: the control terminal can also implement the steps in the method applied to drones, and the control terminal sends the implementation results to the drone; please refer to the above application to drones for detailed descriptions of related content The content part of the method is not repeated here.

The method includes: step S201 and step S202.

Step S201: Obtain the initial inspection waypoint of the next tower, and send the initial inspection waypoint of the next tower to the drone.

Step S202: Obtain a flight strategy, and send the flight strategy to the UAV, so that the UAV will start from the current flight strategy after completing the inspection of the last patrol waypoint for the current tower. The last patrol waypoint of the tower flies to the starting patrol waypoint of the next tower, and starts from the starting patrol waypoint on the next tower, including the starting patrol waypoint. Multiple inspection waypoints for inspection.

Wherein, the obtaining of the flight strategy includes: obtaining a straight-line flight strategy, which enables the UAV to start from the last patrol of the current tower after the last patrol of the current tower is completed. Check the waypoint to fly along a straight line to the starting inspection waypoint of the next tower.

Wherein, the obtaining of the flight strategy includes: obtaining a high-altitude flight strategy of a preset height, the preset height being greater than the height of the tower and capable of avoiding obstacles, and the high-altitude flight strategy enabling the UAV to move from the current tower The last patrol waypoint of the patrol rises to the preset height, flies directly above the next tower at the preset height, and then lands to the initial patrol waypoint of the next tower.

Wherein, acquiring the starting inspection route point of the next tower includes: acquiring the next tower according to the inspection path of the tower group where the current tower is located, and the inspection path of the tower group where the current tower is located includes more than two According to the multiple inspection waypoints of the next tower, determine the starting inspection waypoint of the next tower.

Wherein, before obtaining the next tower according to the inspection path of the group where the current tower is located, the method further includes: acquiring the inspection path of the group where the current tower is located.

Wherein, obtaining the inspection path of the current tower group includes: obtaining the optimization of the current tower group according to the number of the current tower group that needs to be inspected and the flight cost between every two towers Inspection path.

Wherein, the obtaining the inspection path of the group of poles where the current pole is located includes: obtaining the distance that the battery can fly according to the power of the battery, the flight cost between every two poles and towers including the current pole, and the distribution positions of the charging piles. The current inspection path including the current pole and the position of the first landing charging pile after the end of the inspection according to the current inspection path. The flight cost of the last patrol waypoint is the lowest.

Wherein, the method further includes: sending the position of the first landing charging pile to the UAV, so that the UAV will start from the path of the current inspection after completing the inspection according to the current inspection path. The last patrol waypoint of the last pole tower flies to the position of the first landing charging pile for charging.

Wherein, the method further includes: obtaining the starting patrol waypoint of the next pole that needs to be patrolled and with the lowest flight cost from the first landing charging pile position, and sending it to the UAV so that all After the drone is charged, the flight from the first landing charging pile position to the starting patrol waypoint of the next tower that needs to be patrolled with the lowest flying cost away from the first landing charging pile position continues. Inspection.

Wherein, the method further includes: if the number of poles in the tower group where the current pole is located is one, obtaining the second landing charging pile position with the lowest flight cost from the last inspection waypoint of the current pole and tower; and landing the second The position of the charging pile is sent to the UAV, so that the UAV will fly from the last inspection waypoint of the current tower to the second landing after the inspection of the last inspection waypoint of the current tower is completed. Charge at the charging pile position.

Wherein, before acquiring the starting inspection route point of the next tower, it also includes: according to the topographic features of the multiple towers to be inspected and the altitude where each tower is located, arranging the multiple towers Divided into multiple tower groups, each tower group includes more than one tower.

Wherein, the flight cost is determined according to at least one of the flight distance, the degree of flight danger, and the terrain distribution.

Wherein, the method further includes: receiving a prompt from the drone that the obstacle avoidance and bypass cannot be completed.

Referring to Figure 9, Figure 9 is a schematic structural diagram of an embodiment of the drone of the present application. It should be noted that the drone of this embodiment can perform the steps in the above-mentioned method for inspection of the poles and towers applied to the drone, and the related content For a detailed description, please refer to the relevant content of the above-mentioned tower inspection method applied to UAVs, which will not be repeated here.

The drone 100 includes a memory 1 and a processor 2, and the memory 1 and the processor 2 are connected by a bus.

Wherein, the processor 2 may be a micro control unit, a central processing unit or a digital signal processor, etc.

Among them, the memory 1 can be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, or a mobile hard disk, etc.

The memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and, when the computer program is executed, implement the following steps:

Acquire the starting inspection waypoint of the next tower; acquire the flight strategy, and after the last inspection waypoint for the current tower is completed, follow the flight strategy to fly from the last inspection waypoint of the current tower to the next The starting patrol waypoint of one tower; starting from the starting patrol waypoint on the next tower, patrol inspections are performed on multiple patrol waypoints including the starting patrol waypoint.

Wherein, when the processor executes the computer program, it implements the following steps: acquire a straight-line flight strategy; after patrolling the last patrol waypoint for the current tower, follow the straight-line flight strategy from the last patrol of the current tower One patrol waypoint flies in a straight line to the starting patrol waypoint of the next tower.

Wherein, when the processor executes the computer program, it implements the following steps: if an obstacle is detected during a straight flight, it will avoid the obstacle by avoiding the obstacle and arrive at the start of the next tower. Begin to patrol the waypoints.

Wherein, when the processor executes the computer program, the following steps are implemented: obtaining a high-altitude flight strategy with a preset height, the preset height being greater than the height of the tower and being able to avoid obstacles; according to the high-altitude flight strategy, Ascend from the last inspection waypoint of the current tower to the preset height, fly to directly above the next tower under the preset altitude, and then land to the initial inspection waypoint of the next tower.

Wherein, when the processor executes the computer program, the following steps are implemented: obtain the next tower according to the inspection path of the tower group where the current tower is located, and the inspection path of the tower group where the current tower is located includes more than two According to the multiple inspection waypoints of the next tower, determine the starting inspection waypoint of the next tower.

Wherein, when the processor executes the computer program, it implements the following steps: obtaining the inspection path of the group of poles where the current pole is located.

Wherein, when the processor executes the computer program, the following steps are implemented: according to the number of poles that need to be inspected in the current pole and tower group and the flight cost between every two poles, obtain the maximum value of the current pole and tower group. Optimize the inspection path.

Wherein, when the processor executes the computer program, it implements the following steps: according to the distance that the battery can fly, the flight cost between every two poles including the current pole, and the distribution position of the charging piles, Obtain the current inspection path including the current pole and the first landing charging pile position after the end of the inspection according to the current inspection path, and the first landing charging pile position is away from the last pole tower in the current inspection path The flight cost of the last patrol waypoint is the lowest.

Wherein, when the processor executes the computer program, it implements the following steps: after completing the inspection according to the current inspection path, fly from the last inspection waypoint of the last pole of the current inspection path to the station. Charge at the first landing position of the charging pile.

Wherein, when the processor executes the computer program, it implements the following steps: after the charging is completed, obtain the initial inspection of the next pole tower that has the lowest flight cost from the first landing position of the charging pile and needs to be inspected Waypoint; fly from the first landing charging pile position to the starting patrol waypoint of the next tower to continue the patrol inspection.

Wherein, when the processor executes the computer program, the following steps are implemented: if the number of poles in the tower group where the current pole is located is one, after the last patrol for the current pole and tower is completed, the current The last patrol waypoint of the pole tower flies to the second landing charging pile position with the lowest flight cost from the last patrol waypoint of the current pole tower for charging.

Wherein, when the processor executes the computer program, the following steps are realized: according to the topographic features of the multiple poles to be inspected and the altitude where each pole is located, the multiple poles are divided into Multiple tower groups, each tower group includes more than one tower.

Wherein, when the processor executes the computer program, the following steps are implemented: during a straight flight, an environment map is constructed from the observation data of the sensor; if an obstacle is encountered in the environment map, an obstacle avoidance algorithm is used to actively Avoid the obstacles and resume straight flight to reach the starting patrol waypoint of the next tower.

Wherein, when the processor executes the computer program, the following steps are implemented: if the obstacle avoidance bypass cannot be completed, the obstacle avoidance bypass is stopped and a prompt is issued.

Referring to Figure 10, Figure 10 is a schematic structural diagram of an embodiment of the control device of the present application. It should be noted that the control device of this embodiment can execute the steps in the above-mentioned pole and tower inspection method applied to the control end, and a detailed description of the relevant content, Please refer to the related content of the above-mentioned pole and tower inspection method applied to the control end, which will not be repeated here.

The control device 200 includes a memory 10 and a processor 20, and the memory 10 and the processor 20 are connected by a bus.

Among them, the processor 20 may be a micro control unit, a central processing unit, or a digital signal processor, and so on.

Among them, the memory 10 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, or a mobile hard disk, etc.

The memory 10 is used to store a computer program; the processor 20 is used to execute the computer program and, when the computer program is executed, implement the following steps:

Acquire the starting patrol waypoint of the next tower, and send the starting patrol waypoint of the next tower to the drone; acquire the flight strategy, and send the flight strategy to the drone, After the UAV completes the inspection of the last inspection waypoint of the current tower, it will fly from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower according to the flight strategy. And, starting from the starting patrol waypoint on the next tower, patrol inspections are performed on multiple patrol waypoints including the starting patrol waypoint.

Wherein, when the processor executes the computer program, it implements the following steps: obtain a straight-line flight strategy, the straight-line flight strategy can enable the UAV to patrol the last patrol waypoint for the current tower , Fly in a straight line from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower.

Wherein, when the processor executes the computer program, the following steps are realized: obtaining a high-altitude flight strategy of a preset height, the preset height is greater than the height of the pole and tower and obstacles can be avoided, and the high-altitude flight strategy can enable The drone rises from the last patrol point of the current tower to the preset height, flies at the preset height to directly above the next tower, and then lands to the beginning of the next tower Patrol waypoints.

Wherein, when the processor executes the computer program, it implements the following steps: sending the position of the first landing charging post to the drone, so that the drone is patrolled according to the current inspection path. After the end, fly from the last patrol waypoint of the last pole tower of this patrol path to the position of the first landing charging pile for charging.

Wherein, when the processor executes the computer program, it implements the following steps: obtain the starting inspection waypoint of the next pole tower that needs to be inspected and has the lowest flight cost from the first landing position of the charging pile, and Send to the drone to make the drone fly from the position of the first landing charging pile to the next one with the lowest flying cost and requiring patrol inspection from the position of the first landing charging pile. The starting patrol waypoint of the tower continues to be patrolled.

Wherein, the processor implements the following steps when executing the computer program: if the number of poles in the tower group where the current pole is located is one, obtain the second landing with the lowest flight cost from the last patrol waypoint of the current pole tower The position of the charging pile; the second landing position of the charging pile is sent to the UAV, so that the UAV will start from the last patrol of the current tower after the inspection of the last patrol point of the current tower is completed. Fly to the location of the second landing charging pile for charging.

Wherein, when the processor executes the computer program, the following steps are implemented: receiving a prompt from the drone that the obstacle avoidance and bypass cannot be completed.

Referring to FIG. 11, FIG. 11 is a schematic structural diagram of an embodiment of a pole-tower inspection system according to the present application. The pole-tower inspection system 300 includes the unmanned aerial vehicle 100 as described in any one of the preceding items and the control device 200 as described in any one of the preceding items . For a detailed description of the relevant content, please refer to the relevant content of the above-mentioned drone and the relevant content of the control device, which will not be repeated here.

The present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes any of the above-mentioned poles applied to drones Inspection method. For a detailed description of the relevant content, please refer to the relevant content section above, which will not be repeated here.

Wherein, the computer-readable storage medium may be an internal storage unit of the aforementioned drone, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, and so on.

The present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements any of the above items applied to the control end of the tower inspection method. For a detailed description of the relevant content, please refer to the relevant content section above, which will not be repeated here.

Wherein, the computer-readable storage medium may be an internal storage unit of the aforementioned control device, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, and so on.

It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application.

It should also be understood that the term "and/or" used in the specification and appended claims of this application refers to any combination of one or more of the items listed in the associated and all possible combinations, and includes these combinations.

The above are only specific embodiments of this application, but the scope of protection of this application is not limited to this. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

A pole tower inspection method, which is characterized in that it is applied to an unmanned aerial vehicle, and the method includes:

Get the starting patrol waypoint of the next tower;

Acquire the flight strategy, and after the last inspection waypoint of the current tower is completed, fly from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower according to the flight strategy;

At the next tower, inspections are performed on multiple inspection waypoints including the initial inspection waypoint starting from the initial inspection waypoint.
The method according to claim 1, characterized in that, in the obtaining of the flight strategy, after the last inspection waypoint of the current tower is completed, according to the flight strategy from the last inspection waypoint of the current tower Fly to the starting inspection waypoint of the next tower, including:

Obtain straight-line flight strategy;

After the inspection of the last inspection waypoint of the current tower is completed, follow the straight-line flight strategy from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower.
The method according to claim 2, characterized in that, the method further comprises:

If an obstacle is detected during the flight along a straight line, the obstacle will be avoided through obstacle avoidance to reach the starting inspection waypoint of the next tower.
The method according to claim 1, characterized in that, in the obtaining of the flight strategy, after the last inspection waypoint of the current tower is completed, according to the flight strategy from the last inspection waypoint of the current tower Fly to the starting inspection waypoint of the next tower, including:

Obtain a high-altitude flight strategy of a preset height, where the preset height is greater than the height of the tower and can avoid obstacles;

According to the high-altitude flight strategy, ascend from the last patrol waypoint of the current tower to the preset height, fly at the preset height to directly above the next tower, and then land on the next tower. Start inspection waypoint.
The method according to claim 4, characterized in that the preset height is determined according to at least one of the surrounding environment, terrain, and restricted flying height of the pole tower.
The method according to claim 1, wherein said obtaining the starting patrol waypoint of the next pole tower comprises:

Obtain the next tower according to the inspection path of the tower group where the current tower is located, and the inspection path of the tower group where the current tower is located includes more than two towers;

According to the multiple inspection waypoints of the next tower, the starting inspection waypoint of the next tower is determined.
The method according to claim 6, characterized in that, before obtaining the next tower according to the inspection path of the group of towers where the current tower is located, the method further comprises:

Get the inspection path of the tower group where the current tower is located.
The method according to claim 7, wherein said obtaining the inspection path of the group of poles where the current pole is located comprises:

According to the number of poles that need to be inspected in the tower group where the current tower is located, and the flight cost between every two towers, the optimal inspection path for the tower group where the current tower is located is obtained.
The method according to claim 7, wherein said obtaining the inspection path of the group of poles where the current pole is located comprises:

According to the distance that the battery can fly, the flight cost between every two towers including the current tower, and the distribution position of the charging piles, obtain the current inspection path including the current tower and follow the current inspection The position of the first landing charging pile after the completion of the route inspection, and the flight cost of the last inspection waypoint of the last pole tower of the first landing charging pile position from the current inspection path inspection is the lowest.
The method according to claim 9, wherein the method further comprises:

After the patrol inspection according to the current patrol path is completed, fly from the last patrol waypoint of the last pole tower of the patrol path to the position of the first landing charging pile for charging.
The method according to claim 10, wherein the method further comprises:

After the charging is completed, obtain the starting inspection route point of the next tower that needs to be inspected and with the lowest flight cost from the first landing position of the charging pile;

Fly from the position of the first landing charging pile to the starting patrol waypoint of the next tower to continue the patrol inspection.
The method according to claim 1, wherein the method further comprises:

If the number of poles in the tower group where the current tower is located is one, after the last inspection waypoint for the current tower is completed, fly from the last inspection waypoint of the current tower to the last inspection waypoint away from the current tower The waypoint is charged at the second landing charging pile position with the lowest flight cost.
The method according to claim 1, characterized in that, before acquiring the initial patrol waypoint of the next pole tower, the method further comprises:

According to the topographic features of the multiple poles to be inspected and the altitude where each pole is located, the multiple poles are divided into a plurality of poles and tower groups, and each of the poles and towers includes more than one tower.
The method according to claim 8 or 12, wherein the flight cost is determined according to at least one of a flight distance, a degree of flight danger, and a terrain distribution.
The method according to claim 3, characterized in that, if an obstacle is detected during the flight along a straight line, the obstacle is avoided by an obstacle avoidance way to reach the initial inspection of the next tower Waypoints also include:

During the flight along a straight line, the environment map is constructed based on the observation data of the sensor;

If an obstacle is encountered in the environment map, the obstacle avoidance algorithm is used to actively avoid the obstacle and resume straight flight to the starting inspection waypoint of the next tower.
The method according to claim 15, wherein the sensor comprises at least one of a laser radar, a millimeter wave radar, or a vision sensor.
The method according to claim 15, wherein the obstacle avoidance algorithm comprises an A star algorithm and a dynamic window algorithm.
The method according to claim 3, wherein the method further comprises:

If the obstacle avoidance detour cannot be completed, stop the obstacle avoidance detour and give a prompt.
A pole tower inspection method, characterized in that it is applied to the control end, and the method includes:

Acquire the starting inspection waypoint of the next tower, and send the starting inspection waypoint of the next tower to the drone;

Obtain the flight strategy, and send the flight strategy to the UAV, so that the UAV will start from the last inspection waypoint of the current tower according to the flight strategy after the inspection of the last inspection waypoint of the current tower is completed. One patrol waypoint flies to the starting patrol waypoint of the next tower, and starts from the starting patrol pat Inspect the waypoints for inspection.
The method according to claim 19, wherein said acquiring a flight strategy comprises:

Obtain a straight-line flight strategy, which enables the UAV to fly in a straight line from the last patrol waypoint of the current tower to the next tower after the last patrol waypoint of the current tower is completed. The starting point of the inspection.
The method according to claim 19, wherein said acquiring a flight strategy comprises:

Obtain a high-altitude flight strategy of a preset height, the preset height is greater than the height of the tower and can avoid obstacles, and the high-altitude flight strategy can make the UAV rise from the last inspection waypoint of the current tower The preset altitude is to fly to directly above the next tower at the preset altitude, and then land to the starting patrol route point of the next tower.
The method according to claim 21, wherein the preset height is determined according to at least one of the surrounding environment, terrain, and restricted flying height of the pole tower.
The method according to claim 19, wherein said obtaining the starting patrol waypoint of the next tower comprises:

Obtain the next tower according to the inspection path of the tower group where the current tower is located, and the inspection path of the tower group where the current tower is located includes more than two towers;

According to the multiple inspection waypoints of the next tower, the starting inspection waypoint of the next tower is determined.
The method according to claim 23, characterized in that, before acquiring the next tower according to the inspection path of the group of towers where the current tower is located, the method further comprises:

Get the inspection path of the tower group where the current tower is located.
The method according to claim 24, wherein said obtaining the inspection path of the group of poles where the current pole is located comprises:

According to the number of poles that need to be inspected in the tower group where the current tower is located, and the flight cost between every two towers, the optimal inspection path for the tower group where the current tower is located is obtained.
The method according to claim 24, wherein said obtaining the inspection path of the group of poles where the current pole is located comprises:

According to the distance that the battery can fly, the flight cost between every two towers including the current tower, and the distribution position of the charging piles, obtain the current inspection path including the current tower and follow the current inspection The position of the first landing charging pile after the completion of the route inspection, and the flight cost of the last inspection waypoint of the last pole tower of the first landing charging pile position from the current inspection path inspection is the lowest.
The method according to claim 26, wherein the method further comprises:

Send the location of the first landing charging pile to the UAV, so that the UAV will start from the last patrol of the last pole tower of the current patrol path after the patrol inspection according to the current patrol path is completed. The waypoint flies to the position of the first landing charging pile for charging.
The method according to claim 26, wherein the method further comprises:

Obtain the starting patrol waypoint of the next pole that needs patrol inspection from the position of the first landing charging pile with the lowest flight cost, and send it to the drone, so that after the drone is charged, From the position of the first landing charging pile to the starting patrol waypoint of the next pole that needs to be patrolled, the flight cost is the lowest from the position of the first landing charging pile, and the patrol is continued.
The method according to claim 19, wherein the method further comprises:

If the number of towers in the tower group where the current tower is located is one, obtain the second landing charging pile position with the lowest flight cost from the last patrol waypoint of the current tower;

Send the second landing charging pile position to the UAV, so that the UAV will fly from the last patrol waypoint of the current tower after the patrol inspection of the last patrol waypoint of the current tower is completed. Go to the second landing charging pile position for charging.
The method according to claim 19, characterized in that, before acquiring the initial patrol waypoint of the next pole tower, the method further comprises:

According to the topographic features of the multiple poles to be inspected and the altitude where each pole is located, the multiple poles are divided into a plurality of poles and tower groups, and each of the poles and towers includes more than one tower.
The method according to claim 25 or 29, wherein the flight cost is determined according to at least one of a flight distance, a degree of flight danger, and a terrain distribution.
The method according to claim 20, wherein the method further comprises:

Receive a prompt from the drone that the obstacle avoidance and bypass cannot be completed.
An unmanned aerial vehicle, characterized by comprising: a memory and a processor;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

Get the starting patrol waypoint of the next tower;

Acquire the flight strategy, and after the last inspection waypoint of the current tower is completed, fly from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower according to the flight strategy;

At the next tower, inspections are performed on multiple inspection waypoints including the initial inspection waypoint starting from the initial inspection waypoint.
The drone of claim 33, wherein the processor implements the following steps when executing the computer program:

Obtain straight-line flight strategy;

After the inspection of the last inspection waypoint of the current tower is completed, follow the straight-line flight strategy from the last inspection waypoint of the current tower to the starting inspection waypoint of the next tower.
The drone of claim 34, wherein the processor implements the following steps when executing the computer program:

If an obstacle is detected during the flight along a straight line, the obstacle will be avoided by way of obstacle avoidance and bypass to reach the starting inspection waypoint of the next tower.
The drone of claim 33, wherein the processor implements the following steps when executing the computer program:

Obtain a high-altitude flight strategy of a preset height, where the preset height is greater than the height of the tower and can avoid obstacles;

According to the high-altitude flight strategy, ascend from the last patrol waypoint of the current tower to the preset height, fly at the preset height to directly above the next tower, and then land on the next tower. Start inspection waypoint.
The unmanned aerial vehicle according to claim 36, wherein the preset height is determined according to at least one of the surrounding environment, terrain, and restricted flying height of the tower.
The drone of claim 33, wherein the processor implements the following steps when executing the computer program:

Obtain the next tower according to the inspection path of the tower group where the current tower is located, and the inspection path of the tower group where the current tower is located includes more than two towers;

According to the multiple inspection waypoints of the next tower, the starting inspection waypoint of the next tower is determined.
The drone of claim 38, wherein the processor implements the following steps when executing the computer program:

Get the inspection path of the tower group where the current tower is located.
The drone of claim 39, wherein the processor implements the following steps when executing the computer program:

According to the number of towers that need to be inspected in the tower group where the current tower is located, and the flight cost between every two towers, the optimal inspection path for the tower group where the current tower is located is obtained.
The drone of claim 39, wherein the processor implements the following steps when executing the computer program:

According to the distance that the battery can fly, the flight cost between every two towers including the current tower, and the distribution position of the charging piles, obtain the current inspection path including the current tower and follow the current inspection The position of the first landing charging pile after the completion of the route inspection, and the flight cost of the last inspection waypoint of the last pole tower of the first landing charging pile position from the current inspection path inspection is the lowest.
The drone of claim 41, wherein the processor implements the following steps when executing the computer program:

After the patrol inspection according to the current patrol path is completed, fly from the last patrol waypoint of the last pole tower of the patrol path to the position of the first landing charging pile for charging.
The drone of claim 42, wherein the processor implements the following steps when executing the computer program:

After the charging is completed, obtain the starting inspection route point of the next tower that needs to be inspected and with the lowest flight cost from the first landing position of the charging pile;

Fly from the position of the first landing charging pile to the starting patrol waypoint of the next tower to continue the patrol inspection.
The drone of claim 33, wherein the processor implements the following steps when executing the computer program:

If the number of poles in the tower group where the current tower is located is one, after the last inspection waypoint for the current tower is completed, fly from the last inspection waypoint of the current tower to the last inspection waypoint away from the current tower The waypoint is charged at the second landing charging pile position with the lowest flight cost.
The drone of claim 33, wherein the processor implements the following steps when executing the computer program:

According to the topographic features of the multiple poles to be inspected and the altitude where each pole is located, the multiple poles are divided into a plurality of poles and tower groups, and each of the poles and towers includes more than one tower.
The unmanned aerial vehicle according to claim 40 or 44, wherein the flight cost is determined according to at least one of a flight distance, a degree of flight danger, and a terrain distribution.
The drone of claim 35, wherein the processor implements the following steps when executing the computer program:

During the flight along a straight line, the environment map is constructed based on the observation data of the sensor;

If an obstacle is encountered in the environment map, the obstacle avoidance algorithm is used to actively avoid the obstacle and resume straight flight to the starting inspection waypoint of the next tower.
The unmanned aerial vehicle according to claim 47, wherein the sensor comprises at least one of a lidar, a millimeter wave radar, or a vision sensor.
The UAV according to claim 47, wherein the obstacle avoidance algorithm includes an A star algorithm and a dynamic window algorithm.
The drone of claim 35, wherein the processor implements the following steps when executing the computer program:

If the obstacle avoidance detour cannot be completed, stop the obstacle avoidance detour and give a prompt.
A control device, characterized by comprising: a memory and a processor;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

Acquire the starting inspection waypoint of the next tower, and send the starting inspection waypoint of the next tower to the drone;

Obtain the flight strategy, and send the flight strategy to the UAV, so that the UAV will start from the last inspection waypoint of the current tower according to the flight strategy after the inspection of the last inspection waypoint of the current tower is completed. One patrol waypoint flies to the starting patrol waypoint of the next tower, and starts from the starting patrol pat Inspect the waypoints for inspection.
The control device according to claim 51, wherein the processor implements the following steps when executing the computer program:

Obtain a straight-line flight strategy, which enables the UAV to fly in a straight line from the last patrol waypoint of the current tower to the next tower after the last patrol waypoint of the current tower is completed. The starting point of the inspection.
The control device according to claim 51, wherein the processor implements the following steps when executing the computer program:

Obtain a high-altitude flight strategy of a preset height, the preset height is greater than the height of the tower and can avoid obstacles, and the high-altitude flight strategy can make the UAV rise from the last inspection waypoint of the current tower The preset altitude is to fly to directly above the next tower at the preset altitude, and then land to the starting patrol route point of the next tower.
The control device according to claim 53, wherein the preset height is determined according to at least one of the surrounding environment, terrain, and restricted flying height of the tower.
The control device according to claim 51, wherein the processor implements the following steps when executing the computer program:

Obtain the next tower according to the inspection path of the tower group where the current tower is located, and the inspection path of the tower group where the current tower is located includes more than two towers;

According to the multiple inspection waypoints of the next tower, the starting inspection waypoint of the next tower is determined.
The control device according to claim 55, wherein the processor implements the following steps when executing the computer program:

Get the inspection path of the tower group where the current tower is located.
The control device according to claim 56, wherein the processor implements the following steps when executing the computer program:

According to the number of towers that need to be inspected in the tower group where the current tower is located, and the flight cost between every two towers, the optimal inspection path for the tower group where the current tower is located is obtained.
The control device according to claim 56, wherein the processor implements the following steps when executing the computer program:

According to the distance that the battery can fly, the flight cost between every two towers including the current tower, and the distribution position of the charging piles, obtain the current inspection path including the current tower and follow the current inspection The position of the first landing charging pile after the completion of the route inspection, and the flight cost of the last inspection waypoint of the last pole tower of the first landing charging pile position from the current inspection path inspection is the lowest.
The control device according to claim 58, wherein the processor implements the following steps when executing the computer program:

Send the location of the first landing charging pile to the UAV, so that the UAV will start from the last patrol of the last pole tower of the current patrol path after the patrol inspection according to the current patrol path is completed. The waypoint flies to the position of the first landing charging pile for charging.
The control device according to claim 58, wherein the processor implements the following steps when executing the computer program:

Obtain the starting patrol waypoint of the next pole that needs patrol inspection from the position of the first landing charging pile with the lowest flight cost, and send it to the drone, so that after the drone is charged, From the position of the first landing charging pile to the starting patrol waypoint of the next pole that needs to be patrolled, the flight cost is the lowest from the position of the first landing charging pile, and the patrol is continued.
The control device according to claim 51, wherein the processor implements the following steps when executing the computer program:

If the number of towers in the tower group where the current tower is located is one, obtain the second landing charging pile position with the lowest flight cost from the last patrol waypoint of the current tower;

Send the second landing charging pile position to the UAV, so that the UAV will fly from the last patrol waypoint of the current tower after the patrol inspection of the last patrol waypoint of the current tower is completed. Go to the second landing charging pile position for charging.
The control device according to claim 51, wherein the processor implements the following steps when executing the computer program:

According to the topographic features of the multiple poles to be inspected and the altitude where each pole is located, the multiple poles are divided into a plurality of poles and tower groups, and each of the poles and towers includes more than one tower.
The control device according to claim 57 or 61, wherein the flight cost is determined according to at least one of a flight distance, a degree of flight danger, and a terrain distribution.
The control device according to claim 52, wherein the processor implements the following steps when executing the computer program:

Receive a prompt from the drone that the obstacle avoidance and bypass cannot be completed.
A pole-tower inspection system, characterized in that the pole-tower inspection system comprises the drone according to any one of claims 33-39, 42-44, 46-50 and any one of claims 51-64 The control device described in the item.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes any one of claims 1-18 The inspection method of the pole tower.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes any one of claims 19-32 The inspection method of the pole tower.