CN105549613A - Automatic inspection method and automatic inspection device based on unmanned aerial vehicle - Google Patents
Automatic inspection method and automatic inspection device based on unmanned aerial vehicle Download PDFInfo
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- CN105549613A CN105549613A CN201510921038.7A CN201510921038A CN105549613A CN 105549613 A CN105549613 A CN 105549613A CN 201510921038 A CN201510921038 A CN 201510921038A CN 105549613 A CN105549613 A CN 105549613A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention provides an automatic inspection method and an automatic inspection device based on an unmanned aerial vehicle. An automatic inspection request including an identifier of a to-be-inspected road is received; a preset navigation file set including at least one navigation file corresponding to the road identifier is displayed, wherein each navigation file indicates a unique unmanned aerial vehicle flight path corresponding to the to-be-inspected road; a selection operation on the navigation file by a user is further answered; the unmanned aerial vehicle is controlled to automatically fly in the unmanned aerial vehicle flight path indicated by the navigation file selected by the user, and information of an image photographed during the flight process is returned. Thus, the to-be-inspected road can be inspected automatically through controlling the unmanned aerial vehicle, the road inspection efficiency is improved, and dangers during the road inspection process are reduced.
Description
Technical field
The application relates to the anti-preforming technique field of disease, particularly relates to a kind of automatic detecting method based on unmanned plane and device.
Background technology
Road is economic main artery, and a passage is blocked up will have a strong impact on socioeconomic development.According to statistics, China has the road of nearly half to enter " old-age group " phase, there is various potential safety hazard.How to carry out preventing to the disease of road (especially bridge, tunnel etc.) before accident occurs and to eliminate, to maintain economic steady growth, ensure that the security of the lives and property of traffic participant is an important topic of transportation work.
At present, the mode of preventing road disease mainly to rely on patrol officer to pass through manually to patrol and examine road whole process realizes.But although the mode of manually patrolling and examining road can realize the prevention to road disease, this kind of mode also often exists that to patrol and examine efficiency low, with the problem of certain danger.
Therefore, providing a kind of method for inspecting based on unmanned plane and device, patrol and examine efficiency to improve road, reduce road and patrol and examine danger in process, is problem demanding prompt solution.
Summary of the invention
In view of this, the embodiment of the present application provides a kind of automatic detecting method based on unmanned plane and device, and by controlling unmanned plane to the automatic detecting of road to be inspected, improving road and patrolling and examining efficiency, reduction road patrols and examines the danger in process.
To achieve these goals, the technical scheme that provides of the embodiment of the present application is as follows:
Based on an automatic detecting method for unmanned plane, comprising:
Receive automatic detecting request, described automatic detecting request comprises the road markings of road to be inspected;
Show the navigate file collection corresponding with described road markings pre-set, described navigate file is concentrated and is comprised at least one navigate file, and each described navigate file indicates a unique unmanned plane during flying circuit corresponding with described road to be inspected;
Response user operates the selection of described navigate file, the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with described user automatically flies and returns the image information of taking in flight course, to complete the automatic detecting to described road to be inspected.
Preferably, when described navigate file comprises multiple Frame, during the state of flight that each described Frame indicates the flight of unmanned plane in the unmanned plane during flying circuit that described navigate file is corresponding to put,
Described response user operates the selection of described navigate file, and the process that the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with described user flies automatically comprises:
Response user operates the selection of described navigate file, determines the target navigation file that described user selectes;
The flight point sequence number mark of carrying according to described Frame, the flight order obtaining in described target navigation file described in each the flight point of unmanned plane in the unmanned plane during flying circuit that described target navigation file is corresponding of Frame instruction;
According to described flight order, control the state of flight that unmanned plane performs the flight point of each Frame instruction in described target navigation file successively, to realize the automatic flight of described unmanned plane.
Preferably, described according to described flight order, control the state of flight that unmanned plane performs the flight point of each Frame instruction in described target navigation file successively, comprise with the process of the automatic flight realizing described unmanned plane:
S1, according to described flight order, read the Frame in described target navigation file;
S2, when often reading a described Frame, control the state of flight of target flight point that described unmanned plane performs the current target data frame instruction read;
S3, when the state of flight of the current flight point of unmanned plane is identical with the state of flight of target flight point, returns and perform step S1.
Preferably, the process of the state of flight of the target flight point of the current target data frame instruction read of described control described unmanned plane execution comprises:
Obtain target location offset information and targeted attitude information that described target data frame carries, flight point position in the state of flight of the flight point that the described target location offset information instruction upper Frame be read adjacent with described target data frame indicates, and the side-play amount between the target flight point position in the state of flight of described target flight point;
Control described unmanned plane to fly according to described position offset information the instruction of described target data frame target flight point target flight point position process in, adjust the attitude of described unmanned plane to identical with the targeted attitude that described targeted attitude information indicates.
Preferably, behind the target flight point position of the target flight point indicated to described target data frame when the described unmanned plane during flying of described control, the method also comprises:
Obtain the target flight point base position information of carrying in described target data frame;
Judge that whether the target flight point base position that described target flight point base position information indicates is identical with described target flight point position;
When not identical, adjust the target flight point position of described unmanned plane according to described target flight point base position.
Preferably, also comprise:
Respond the unmanned plane Non-follow control request of the user's input received, control described unmanned plane and stop flight automatically, and start the Non-follow control function of described unmanned plane, so that described unmanned plane responds the Non-follow control instruction received, perform the action corresponding with described Non-follow control instruction.
Based on an automatic inspection device for unmanned plane, comprising:
Request reception unit, for receiving automatic detecting request, described automatic detecting request comprises the road markings of road to be inspected;
Display unit, for showing the navigate file collection corresponding with described road markings pre-set, described navigate file is concentrated and is comprised at least one navigate file, and each described navigate file indicates a unique unmanned plane during flying circuit corresponding with described road to be inspected;
Automatic detecting unit, for responding user, the selection of described navigate file is operated, the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with described user automatically flies and returns the image information of taking in flight course, to complete the automatic detecting to described road to be inspected.
Preferably, when described navigate file comprises multiple Frame, during the state of flight that each described Frame indicates the flight of unmanned plane in the unmanned plane during flying circuit that described navigate file is corresponding to put,
Described automatic detecting unit comprises:
Determining unit, operating the selection of described navigate file for responding user, determining the target navigation file that described user selectes;
Acquiring unit, for the flight point sequence number mark of carrying according to described Frame, the flight order obtaining in described target navigation file described in each the flight point of unmanned plane in the unmanned plane during flying circuit that described target navigation file is corresponding of Frame instruction;
Automatic detecting subelement, for according to described flight order, controls the state of flight that unmanned plane performs the flight point of each Frame instruction in described target navigation file successively, to realize the automatic flight of described unmanned plane.
Preferably, described automatic detecting subelement comprises:
Frame reading unit, for performing S1, according to described flight order, reading the Frame in described target navigation file;
State of flight control module, for performing S2, when often reading a described Frame, controls the state of flight that described unmanned plane performs the target flight point of the current target data frame instruction read;
A flight point judging unit, for performing S3, when the state of flight of the current flight point of unmanned plane is identical with the state of flight of target flight point, returning execution step S1.
Preferably, also comprise manual operation response unit, described manual operation response unit, for responding the unmanned plane Non-follow control request of the user's input received, control described unmanned plane and stop flight automatically, and start the Non-follow control function of described unmanned plane, so that described unmanned plane responds the Non-follow control instruction received, perform the action corresponding with described Non-follow control instruction.
The application provides a kind of automatic detecting method based on unmanned plane and device, by receiving the automatic detecting request comprising the road markings of road to be inspected, and the navigate file collection that comprise at least one navigate file corresponding with road markings that displaying pre-sets (wherein, each navigate file indicates a unique unmanned plane during flying circuit corresponding with road to be inspected), and then response user operates the selection of navigate file, the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with user automatically flies and returns the mode of the image information of taking in flight course, make by controlling unmanned plane to the automatic detecting of road to be inspected, improve road and patrol and examine efficiency, reduction road patrols and examines the danger in process.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
A kind of automatic detecting method flow diagram based on unmanned plane that Fig. 1 provides for the embodiment of the present application one;
What Fig. 2 provided for the embodiment of the present application one a kind ofly responds user and operates the selection of navigate file, the method flow diagram that the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with user flies automatically;
The one that Fig. 3 provides for the embodiment of the present application one, according to flight order, controls the state of flight of the flight point of each Frame instruction of unmanned plane successively in performance objective navigate file, to realize the method flow diagram of the automatic flight of unmanned plane;
A kind of method flow diagram controlling the state of flight of the target flight point of the current target data frame instruction read of unmanned plane execution that Fig. 4 provides for the embodiment of the present application one;
The structural representation of a kind of automatic inspection device based on unmanned plane that Fig. 5 provides for the embodiment of the present application two;
The detailed construction schematic diagram of a kind of automatic detecting unit that Fig. 6 provides for the embodiment of the present application two.
Embodiment
Technical scheme in the application is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present application, technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only some embodiments of the present application, instead of whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all should belong to the scope of the application's protection.
Embodiment one:
A kind of automatic detecting method flow diagram based on unmanned plane that Fig. 1 provides for the embodiment of the present application one.
As shown in Figure 1, the method comprises:
S101, the request of reception automatic detecting, automatic detecting request comprises the road markings of road to be inspected;
In the embodiment of the present application, preferably, by the mode of patrolling and examining road to be inspected, the disease in road to be inspected can be found, and prevent accordingly/eliminate, and then ensure the security of road to be inspected.
Concrete, when user needs to carry out automatic detecting to road to be inspected, first, need to send automatic detecting request, it is a kind of based in the automatic detecting method of unmanned plane that the embodiment of the present application provides, automatic detecting request can be received, and then perform the operation of corresponding automatic detecting according to this automatic detecting request.
In the embodiment of the present application, preferably, every bar road to be inspected has a unique road markings corresponding with it.
Concrete, when needs carry out automatic detecting to road A, the automatic detecting request received comprises the unique road markings corresponding with road A.
The navigate file collection corresponding with road markings that S102, displaying pre-set, navigate file is concentrated and is comprised at least one navigate file, and each navigate file indicates a unique unmanned plane during flying circuit corresponding with road to be inspected;
In the embodiment of the present application, preferably, navigate file collection corresponding with each road to be inspected is respectively pre-set.Such as, when road A and road B all can be used as road to be inspected, for road A, the navigate file collection A corresponding with it can be pre-set; For road B, pre-set the navigate file collection B corresponding with it.
In the embodiment of the present application, preferably, navigate file is concentrated and is comprised at least one navigate file, and each navigate file indicates a unique unmanned plane during flying circuit corresponding with road to be inspected.
Concrete, pre-set many corresponding with every bar road to be inspected respectively unmanned plane during flying circuits, wherein, for every bar unmanned plane during flying circuit of this road to be inspected, every bar unmanned plane during flying circuit is all stored by the mode of a navigate file.
For the ease of the understanding to many unmanned plane during flying circuits corresponding with road to be inspected, now illustrate: for road A to be inspected, if road A is bridge, a unmanned plane during flying circuit on bridge can be arranged on, and a unmanned plane during flying circuit under bridge.More than be only used to be convenient to understand and the example enumerated, but those skilled in the art are noted that the example of many unmanned plane during flying circuits corresponding with road to be inspected is not limited to this.
Concrete, after receiving automatic detecting request, this automatic detecting request can be responded, determine the road markings of the road to be inspected that automatic detecting request comprises, and then determine the navigate file collection corresponding with road to be inspected according to the road markings of road to be inspected, and show the navigate file collection determined.
In the embodiment of the present application, preferably, the mode of displaying navigate file collection is that each navigate file concentrated by navigate file is shown by the mode of list, and in displaying process, its function is marked concise and to the point for each navigate file, so that those skilled in the art understand the unmanned plane during flying circuit that each navigate file specifically indicates, and then be convenient to select corresponding navigate file control unmanned plane to carry out automatic detecting according to the demand of oneself.
Below be only the optimal way of the embodiment of the present application, inventor can arrange arbitrarily the exhibition method of navigate file collection according to the demand of oneself, do not limit at this.
S103, response user operate the selection of navigate file, and the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with user automatically flies and returns the image information of taking in flight course, to complete the automatic detecting to road to be inspected.
In the embodiment of the present application, preferably, when user concentrates from the navigate file shown, have selected after patrolling and examining navigate file corresponding to object with it, a kind of response of the automatic detecting method based on unmanned plane user that the application provides operates the selection of navigate file, and the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with user automatically flies and returns the image information of taking in flight course, to complete the automatic detecting to road to be inspected.
In order to clearly clear and definite, a kind of automatic detecting method based on unmanned plane that the embodiment of the present application provides is set forth, there is provided a kind of at this to respond user and operate the selection of navigate file, the method flow diagram that the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with user flies automatically, refers to Fig. 2.
As shown in Figure 2, the method comprises:
S201, response user operate the selection of navigate file, determine the target navigation file that user selectes;
In the embodiment of the present application, preferably, response user operates the selection of navigate file, determine the target navigation file that user selectes, here target navigation file is only call the one of the navigate file that user selectes, concrete, the navigate file that target navigation file and the user determined select is identical file.
S202, the flight point sequence number mark of carrying according to Frame, obtain the flight order of the flight point of unmanned plane in the unmanned plane during flying circuit that target navigation file is corresponding of each Frame instruction in target navigation file;
In the embodiment of the present application, preferably, navigate file comprises multiple Frame, the state of flight of the flight point of each Frame instruction unmanned plane in the unmanned plane during flying circuit that navigate file is corresponding.
Concrete, navigate file indicates the flight line of a unmanned plane, and navigate file comprises multiple Frame, the state of flight of a flight point in the flight line of corresponding this navigate file instruction of each Frame, and then the flight point to be indicated by each Frame can form the flight line of navigate file instruction, and can form by the state of flight of each flight point unmanned plane state of flight in whole flight course that navigate file indicates.
In the embodiment of the present application, preferably, the flight point sequence number that Frame carries identifies.Flight point sequence number that Frame the carries mark instruction flight point corresponding with this Frame is which in the flight line that indicates of navigate file to fly point, and then according to the flight point sequence number mark that Frame carries, the flight order of the flight point of unmanned plane in the unmanned plane during flying circuit that target navigation file is corresponding of each Frame instruction in target navigation file can be obtained.
S203, according to flight order, control the state of flight of the flight point of each Frame instruction of unmanned plane successively in performance objective navigate file, to realize the automatic flight of unmanned plane.
In the embodiment of the present application, preferably, when after the flight order of the flight point of unmanned plane in the unmanned plane during flying circuit that target navigation file is corresponding getting the instruction of each Frame in target navigation file, can according to flight order, control the state of flight of the flight point of each Frame instruction of unmanned plane successively in performance objective navigate file, to realize the automatic flight of unmanned plane.
In order to clearly clear and definite, a kind of automatic detecting method based on unmanned plane that the embodiment of the present application provides is set forth, there is provided a kind of according to flight order at this, control the state of flight of the flight point of each Frame instruction of unmanned plane successively in performance objective navigate file, to realize the method flow diagram of the automatic flight of unmanned plane, refer to Fig. 3.
As shown in Figure 3, the method comprises:
S301, foundation flight order, read the Frame in target navigation file;
In the embodiment of the present application, preferably, response user, the selection of navigate file is operated, in the process that the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with user flies automatically, when response user operates the selection of navigate file, determine the target navigation file that user selectes, and according to the flight point sequence number mark that Frame carries, after getting the flight order of the flight point of unmanned plane in the unmanned plane during flying circuit that target navigation file is corresponding of each Frame instruction in target navigation file, need according to flight order, read the Frame in target navigation file.
S302, when often reading a Frame, control the state of flight of target flight point that unmanned plane performs the current target data frame instruction read;
In the embodiment of the present application, preferably, in foundation flight order, read in the process of the Frame in target navigation file, when reading a Frame, using the current Frame read as target data frame, and control the state of flight that unmanned plane performs the target flight point of the current target data frame instruction read.
S303, when the state of flight of the current flight point of unmanned plane is identical with the state of flight of target flight point, returns and perform step S301.
In the embodiment of the present application, preferably, the process that control unmanned plane performs the state of flight of the target flight point of the current target data frame instruction read needs to rely on the execution time to complete, perform at control unmanned plane in the process of the state of flight of the target flight point of the current target data frame instruction read, take and judge that whether the state of flight of the flight point that unmanned plane is current is identical with the state of flight of target flight point quarter; Until judge that the state of flight obtaining the current flight point of unmanned plane is identical with the state of flight of target flight point, the state of flight of unmanned plane executed this moment to the target flight point of the current target data frame instruction read then is described, and, when the state of flight of the current flight point of unmanned plane is identical with the state of flight of target flight point, return and perform step S301, according to flight order, to read the next Frame adjacent with above-mentioned target data frame.
In order to clearly clear and definite, a kind of automatic detecting method based on unmanned plane that the embodiment of the present application provides is set forth, there is provided a kind of at this and control the method flow diagram that unmanned plane performs the state of flight of the target flight point of the current target data frame instruction read, refer to Fig. 4.
As shown in Figure 4, the method comprises:
The target location offset information that S401, acquisition target data frame carry and targeted attitude information;
In the embodiment of the present application, preferably, target location offset information instruction: the flight point position in the state of flight of the flight point that the upper Frame be read adjacent with target data frame indicates, and the side-play amount between the target flight point position in the state of flight of target flight point.
In the embodiment of the present application, preferably, targeted attitude information instruction: the attitude information of the unmanned plane of the target flight point position in the state of flight of the target flight point that target data is corresponding.
S402, control unmanned plane to fly according to position offset information the instruction of target data frame target flight point target flight point position process in, the attitude of adjustment unmanned plane is to identical with the targeted attitude that targeted attitude information indicates.
In the embodiment of the present application, preferably, control unmanned plane to fly according to position offset information the instruction of target data frame target flight point target flight point position process in, the mode of the targeted attitude that the attitude adjusting unmanned plane extremely indicates with targeted attitude information can be understood as: unmanned plane flies to target flight point position, while adjust the attitude of self towards targeted attitude, and then realize when unmanned plane during flying is to target flight point position, its attitude is just in time adjusted to targeted attitude.
Further, the embodiment of the present application provide a kind of based in the automatic detecting method of unmanned plane, after controlling the target flight point position of target flight point that unmanned plane during flying indicates to target data frame, the method also comprises following process:
Obtain the target flight point base position information of carrying in target data frame, and, judge that whether the target flight point base position that target flight point base position information indicates is identical with target flight point position; And, when not identical, according to the target flight point position of target flight point base position adjustment unmanned plane.
For the ease of the understanding of the process to above-mentioned adjustment aim flight point position, at this, first the storing process of unmanned plane during flying circuit is described.
In the embodiment of the present application, preferably, the mode of being undertaken flying by manual control unmanned plane realizes the storage of the every bar unmanned plane during flying circuit for each road to be stored, the existing storing process introducing its many unmanned plane during flying circuits for a road.
This process is specially: on unmanned plane, install the devices such as IMU, GPS, electronic compass, laser radar and height barometer.Because a unmanned plane during flying line is difficult to cover whole road area, therefore, for its many unmanned plane during flying circuits of this road record.
Concrete, unmanned plane practical flight can be operated repeatedly by operating personnel, and in each flight course, utilize the device record-setting flight information on unmanned plane, and then the flight line of every bar reality of the unmanned plane to control for operating personnel, carry out according to this actual flight line the data that each device in the process of flying on unmanned plane collects by related personnel's analysis operation personnel control unmanned plane, and this actual flight line is separated into some points, from the multiple points be separated into, determine several impact points (whole impact points be the institute that is separated into of actual flight line a little or part point), wherein, the flight line of every bar reality is stored as a navigate file, a Frame in the corresponding navigate file of each impact point, and the data of the corresponding impact point collected by device on unmanned plane are stored in Frame, realize the storage to the flight line of the reality of the unmanned plane controlled by operating personnel, the practical flight circuit of the unmanned plane controlled by operating personnel for every bar generates a navigate file, so that each navigate file that later use prestores, control unmanned plane and carry out corresponding flight automatically.
In the embodiment of the present application, preferably, in each flight course, utilize the flight information of the device record on unmanned plane, comprising: fly angle of pitch information, roll angle information etc. in the side-play amount of position a little, unmanned plane during flying process in each attitude information flown when putting in the position and upper utilizing IMU to record each flight point of process in unmanned plane during flying process; The world coordinates of each flight point of process in unmanned plane during flying process is recorded by GPS; By process in height barometer record unmanned plane during flying process each flight point atmospheric pressure value so that for each flight point atmospheric pressure value, calculate flight point height value; By in electronic compass record unmanned plane during flying process through each flight point time unmanned plane attitude information in head orientation information etc.; To utilize in laser radar record unmanned plane during flying process corresponding complaint message etc. when each flight point.
Below be only the optimal way of the embodiment of the present application, the device that inventor can be arranged by operating personnel in advance according to any setting of the demand of oneself on unmanned plane, and be set in advance in the flight information of the unmanned plane that the device on unmanned plane specifically gathers, do not limit at this.
Below be only the optimal way of the embodiment of the present application, inventor can arrange arbitrarily the storage mode of many unmanned plane during flying circuits for a road according to the demand of oneself, as determined a flight line the suitableeest by operating personnel, and after utilizing this suitableeest flight line control unmanned plane to carry out actual flight and record corresponding information, the translation motion that the basis of the suitableeest flight line is carried out horizontal direction and vertical direction obtains many flight line etc., does not limit at this.
In the embodiment of the present application, preferably, each Frame in navigate file carries: when Frame is as target data frame, the target flight point base position information corresponding with the target flight dot position information of this target data frame, to utilize the target flight point base position that the target flight point base position information in this target data frame indicates, the target flight point position that adjustment unmanned plane flies according to the target flight dot position information in target data frame.
In the embodiment of the present application, preferably, the target flight point position of the unmanned plane that the target flight dot position information in the target data frame mentioned in the application is corresponding, undertaken moving obtaining by the side-play amount of the position of the target location offset information instruction in the target flight dot position information in this target data frame, wherein, target location offset information in target data frame is by the IMU device record on unmanned plane, it is when operating personnel control unmanned plane during flying with stores navigation information, recorded by the IMU of unmanned plane, adjacent with target data frame, flight point position in the flight line of the reality of the unmanned plane that the upper Frame be read is corresponding, and the side-play amount between target flight point position in the flight line of the reality of unmanned plane corresponding to the target data frame to be recorded by the IMU of unmanned plane.
In the embodiment of the present application, preferably, the target flight point base position of the target flight point base position information instruction that target data frame carries is: when controlling unmanned plane during flying with stores navigation information by operating personnel, the world coordinates of the target flight point in the flight line of the reality of the unmanned plane corresponding with this target data frame obtained by the GPS measurement of unmanned plane.
Concrete, after the target location offset information control unmanned plane carried by target data frame moves to target flight point, need judge that current unmanned plane is in the world coordinates corresponding to target flight point, whether identical (wherein with the world coordinates of the target flight point in the practical flight circuit of the unmanned plane corresponding with this target data frame stored in target data frame, namely the world coordinates of the target flight point in the practical flight circuit of the unmanned plane corresponding with this target data frame stored in target data frame refers to the target flight point base position that the target flight point base position information stored in target data frame indicates), when not identical, control unmanned plane during flying, identical with the world coordinates of the target flight point in the flight line of the reality of the unmanned plane corresponding with this target data frame stored in target data frame to realize the current world coordinates of unmanned plane.
Below be only the optimal way of the embodiment of the present application, inventor can according to the particular content of the target flight point base position of any Offered target flight point of the demand of oneself base position information instruction, as the height value etc. of the flight point of the reality of the unmanned plane corresponding with target data frame that the atmospheric pressure value that target flight point base position is set to utilize barometric surveying to obtain can be calculated, do not limit at this.
Below be only the optimal way of the embodiment of the present application, inventor can arrange arbitrarily the mode of the target flight point position according to target flight point base position adjustment unmanned plane according to the demand of oneself, do not limit at this.
A kind of automatic detecting method based on unmanned plane that the application provides, by behind the target flight point position controlling the target flight point that unmanned plane during flying indicates to target data frame, according to the target flight point base position of the target flight point base position information instruction in target data frame, the position of the current target flight point moved to of adjustment aircraft, can be effectively reduced unmanned plane and realized the flight error in the process of air objective by position offset information.
Further, the embodiment of the present application provide a kind of based in the automatic detecting method of unmanned plane, also comprise following process:
Respond the unmanned plane Non-follow control request of the user's input received, control unmanned plane and stop flight automatically, and start the Non-follow control function of unmanned plane, so that unmanned plane responds the Non-follow control instruction received, perform the action corresponding with Non-follow control instruction.
In the embodiment of the present application, preferably, after user sees that unmanned plane to be patrolled and examined road and occurred the situation of disease or doubtful disease in picture corresponding to the image information that returns, the request of unmanned plane Non-follow control can be inputted, unmanned plane can be controlled by this unmanned plane Non-follow control request and stop flight automatically, also can start the Non-follow control feature capability of unmanned plane simultaneously, so that when subsequent user sends Non-follow control instruction to unmanned plane, unmanned plane can respond the Non-follow control instruction of the user's input received, and performs the action corresponding with this Non-follow control instruction.
Below be only the optimal way of the embodiment of the present application, user can arrange arbitrarily the transmitting time of unmanned plane Non-follow control request according to the demand of oneself, do not limit at this.
Identical, when the unmanned plane Non-follow control request of user's input, realize after manual operation unmanned plane checks the object of road to control unmanned plane, also can discharge this unmanned plane Non-follow control request, automatically fly with the continuation realizing unmanned plane, concrete, after detecting that user discharges the request of unmanned plane Non-follow control, unmanned plane can be controlled and return the flight position of this unmanned plane when receiving unmanned plane Non-follow control request, so that unmanned plane continues flight on the basis of the position that it returns.
Below be only the optimal way of the embodiment of the present application, inventor can arrange arbitrarily the automatic flying method of unmanned plane after user discharges the request of unmanned plane Non-follow control according to the demand of oneself, do not limit at this.
The application provides a kind of automatic detecting method based on unmanned plane, by receiving the automatic detecting request comprising the road markings of road to be inspected, and the navigate file collection that comprise at least one navigate file corresponding with road markings that displaying pre-sets (wherein, each navigate file indicates a unique unmanned plane during flying circuit corresponding with road to be inspected), and then response user operates the selection of navigate file, the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with user automatically flies and returns the mode of the image information of taking in flight course, make by controlling unmanned plane to the automatic detecting of road to be inspected, improve road and patrol and examine efficiency, reduction road patrols and examines the danger in process.
Embodiment two:
The structural representation of a kind of automatic inspection device based on unmanned plane that Fig. 5 provides for the embodiment of the present application two.
As shown in Figure 5, this device comprises:
Request reception unit 51, for receiving automatic detecting request, automatic detecting request comprises the road markings of road to be inspected;
Display unit 52, for showing the navigate file collection corresponding with road markings pre-set, navigate file is concentrated and is comprised at least one navigate file, and each navigate file indicates a unique unmanned plane during flying circuit corresponding with road to be inspected;
Automatic detecting unit 53, for responding user, the selection of navigate file is operated, the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with user automatically flies and returns the image information of taking in flight course, to complete the automatic detecting to road to be inspected.
In the embodiment of the present application, preferably, when navigate file comprises multiple Frame, during the state of flight that each Frame indicates the flight of unmanned plane in the unmanned plane during flying circuit that navigate file is corresponding to put, automatic detecting unit detailed construction schematic diagram as shown in Figure 6.
Known see Fig. 6, automatic detecting unit comprises:
Determining unit 61, operates the selection of navigate file for responding user, determines the target navigation file that user selectes;
Acquiring unit 62, for the flight point sequence number mark of carrying according to Frame, obtains the flight order of the flight point of unmanned plane in the unmanned plane during flying circuit that target navigation file is corresponding of each Frame instruction in target navigation file;
Automatic detecting subelement 63, for according to flight order, controls the state of flight of the flight point of each Frame instruction of unmanned plane successively in performance objective navigate file, to realize the automatic flight of unmanned plane.
In the embodiment of the present application, preferably, automatic detecting subelement comprises:
Frame reading unit, for performing S301, according to flight order, reading the Frame in target navigation file;
State of flight control module, for performing S302, when often reading a Frame, controls the state of flight that unmanned plane performs the target flight point of the current target data frame instruction read;
A flight point judging unit, for performing S303, when the state of flight of the current flight point of unmanned plane is identical with the state of flight of target flight point, returning execution step S301.
In the embodiment of the present application, preferably, the process of the state of flight of the target flight point of the current target data frame instruction read of state of flight control module control unmanned plane execution comprises:
The target location offset information that acquisition target data frame carries and targeted attitude information, flight point position in the state of flight of the flight point that the target location offset information instruction upper Frame be read adjacent with target data frame indicates, and the side-play amount between the target flight point position in the state of flight of target flight point; And in the process of the target flight point position of the target flight point of target data frame instruction of flying according to position offset information at control unmanned plane, the attitude of adjustment unmanned plane is to identical with the targeted attitude that targeted attitude information indicates.
Further, the embodiment of the present application provide a kind of based in the automatic inspection device of unmanned plane, also comprise: adjustment unit, adjustment unit is used for, when behind the target flight point position controlling the target flight point that unmanned plane during flying indicates to target data frame, obtaining the target flight point base position information of carrying in target data frame; And, judge that whether the target flight point base position that target flight point base position information indicates is identical with target flight point position; And, when not identical, according to the target flight point position of target flight point base position adjustment unmanned plane.
Further, the embodiment of the present application provide a kind of based in the automatic inspection device of unmanned plane, also comprise manual operation response unit, manual operation response unit, for responding the unmanned plane Non-follow control request of the user's input received, controlling unmanned plane and stopping flight automatically, and starting the Non-follow control function of unmanned plane, so that unmanned plane responds the Non-follow control instruction received, perform the action corresponding with Non-follow control instruction.
The application provides a kind of automatic inspection device based on unmanned plane, by receiving the automatic detecting request comprising the road markings of road to be inspected, and the navigate file collection that comprise at least one navigate file corresponding with road markings that displaying pre-sets (wherein, each navigate file indicates a unique unmanned plane during flying circuit corresponding with road to be inspected), and then response user operates the selection of navigate file, the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with user automatically flies and returns the mode of the image information of taking in flight course, make by controlling unmanned plane to the automatic detecting of road to be inspected, improve road and patrol and examine efficiency, reduction road patrols and examines the danger in process.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For device disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
Below be only the preferred implementation of the application, those skilled in the art understood or realizes the application.To be apparent to one skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from the spirit or scope of the application, can realize in other embodiments.Therefore, the application can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1., based on an automatic detecting method for unmanned plane, it is characterized in that, comprising:
Receive automatic detecting request, described automatic detecting request comprises the road markings of road to be inspected;
Show the navigate file collection corresponding with described road markings pre-set, described navigate file is concentrated and is comprised at least one navigate file, and each described navigate file indicates a unique unmanned plane during flying circuit corresponding with described road to be inspected;
Response user operates the selection of described navigate file, the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with described user automatically flies and returns the image information of taking in flight course, to complete the automatic detecting to described road to be inspected.
2. method according to claim 1, is characterized in that, when described navigate file comprises multiple Frame, during the state of flight that each described Frame indicates the flight of unmanned plane in the unmanned plane during flying circuit that described navigate file is corresponding to put,
Described response user operates the selection of described navigate file, and the process that the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with described user flies automatically comprises:
Response user operates the selection of described navigate file, determines the target navigation file that described user selectes;
The flight point sequence number mark of carrying according to described Frame, the flight order obtaining in described target navigation file described in each the flight point of unmanned plane in the unmanned plane during flying circuit that described target navigation file is corresponding of Frame instruction;
According to described flight order, control the state of flight that unmanned plane performs the flight point of each Frame instruction in described target navigation file successively, to realize the automatic flight of described unmanned plane.
3. method according to claim 2, it is characterized in that, described according to described flight order, control the state of flight that unmanned plane performs the flight point of each Frame instruction in described target navigation file successively, comprise with the process of the automatic flight realizing described unmanned plane:
S1, according to described flight order, read the Frame in described target navigation file;
S2, when often reading a described Frame, control the state of flight of target flight point that described unmanned plane performs the current target data frame instruction read;
S3, when the state of flight of the current flight point of unmanned plane is identical with the state of flight of target flight point, returns and perform step S1.
4. method according to claim 3, is characterized in that, the process that the described unmanned plane of described control performs the state of flight of the target flight point of the current target data frame instruction read comprises:
Obtain target location offset information and targeted attitude information that described target data frame carries, flight point position in the state of flight of the flight point that the described target location offset information instruction upper Frame be read adjacent with described target data frame indicates, and the side-play amount between the target flight point position in the state of flight of described target flight point;
Control described unmanned plane to fly according to described position offset information the instruction of described target data frame target flight point target flight point position process in, adjust the attitude of described unmanned plane to identical with the targeted attitude that described targeted attitude information indicates.
5. method according to claim 4, is characterized in that, behind the target flight point position of the target flight point indicated to described target data frame when the described unmanned plane during flying of described control, the method also comprises:
Obtain the target flight point base position information of carrying in described target data frame;
Judge that whether the target flight point base position that described target flight point base position information indicates is identical with described target flight point position;
When not identical, adjust the target flight point position of described unmanned plane according to described target flight point base position.
6. the method according to claim 1-5 any one, is characterized in that, also comprises:
Respond the unmanned plane Non-follow control request of the user's input received, control described unmanned plane and stop flight automatically, and start the Non-follow control function of described unmanned plane, so that described unmanned plane responds the Non-follow control instruction received, perform the action corresponding with described Non-follow control instruction.
7. based on an automatic inspection device for unmanned plane, it is characterized in that, comprising:
Request reception unit, for receiving automatic detecting request, described automatic detecting request comprises the road markings of road to be inspected;
Display unit, for showing the navigate file collection corresponding with described road markings pre-set, described navigate file is concentrated and is comprised at least one navigate file, and each described navigate file indicates a unique unmanned plane during flying circuit corresponding with described road to be inspected;
Automatic detecting unit, for responding user, the selection of described navigate file is operated, the unmanned plane during flying circuit controlling the navigate file instruction that unmanned plane is selected with described user automatically flies and returns the image information of taking in flight course, to complete the automatic detecting to described road to be inspected.
8. device according to claim 7, is characterized in that, when described navigate file comprises multiple Frame, during the state of flight that each described Frame indicates the flight of unmanned plane in the unmanned plane during flying circuit that described navigate file is corresponding to put,
Described automatic detecting unit comprises:
Determining unit, operating the selection of described navigate file for responding user, determining the target navigation file that described user selectes;
Acquiring unit, for the flight point sequence number mark of carrying according to described Frame, the flight order obtaining in described target navigation file described in each the flight point of unmanned plane in the unmanned plane during flying circuit that described target navigation file is corresponding of Frame instruction;
Automatic detecting subelement, for according to described flight order, controls the state of flight that unmanned plane performs the flight point of each Frame instruction in described target navigation file successively, to realize the automatic flight of described unmanned plane.
9. device according to claim 8, is characterized in that, described automatic detecting subelement comprises:
Frame reading unit, for performing S1, according to described flight order, reading the Frame in described target navigation file;
State of flight control module, for performing S2, when often reading a described Frame, controls the state of flight that described unmanned plane performs the target flight point of the current target data frame instruction read;
A flight point judging unit, for performing S3, when the state of flight of the current flight point of unmanned plane is identical with the state of flight of target flight point, returning execution step S1.
10. the device according to claim 7-9 any one, it is characterized in that, also comprise manual operation response unit, described manual operation response unit, for responding the unmanned plane Non-follow control request of the user's input received, controlling described unmanned plane and stopping flight automatically, and starting the Non-follow control function of described unmanned plane, so that described unmanned plane responds the Non-follow control instruction received, perform the action corresponding with described Non-follow control instruction.
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