CN116540758A - Method for dynamically inspecting fan and electronic equipment - Google Patents

Abstract

The invention provides a method for dynamically inspecting a fan and electronic equipment, wherein the method comprises the following steps: determining a target viewpoint on the radius of a wind wheel, wherein redundant distances exist between the target viewpoint and the tip position of the radius of the wind wheel, and the radius of the wind wheel is the radius of a round wheel generated by rotation of a fan blade in the horizontal direction; planning a plurality of viewpoints between the radius circle centers of the wind wheels and the target viewpoints based on the target viewpoints; respectively translating the multiple viewpoints according to the real-time yaw direction and the anti-yaw direction of the fan to obtain tour inspection waypoints on the front side and the back side of the fan; when the unmanned aerial vehicle flies to each inspection navigation point to hover, the range finder is controlled to measure the distance of the fan blade, and the unmanned aerial vehicle camera is controlled to take a picture according to the distance measurement result. The problem of among the prior art developments inspection fan inspection waypoint planning inefficiency is solved.

Description

Method and electronic equipment for dynamic inspection of fan

technical field

The invention relates to the field of fan inspection, in particular to a method for dynamic inspection of a fan and electronic equipment.

Background technique

The share of wind power generation continues to grow, and the number of onshore and offshore wind turbines installed is increasing year by year. The inspection of wind turbine blades has gradually become a problem. Compared with other inspection solutions, UAV inspection has low cost, high efficiency, less manual participation, flexible and reliable.

At present, there are two main methods of inspection of wind turbine blades based on drones: static inspection and dynamic inspection. Reduce wind power generation efficiency. Dynamic inspection solves the problem of power generation loss caused by static inspection. The principle of dynamic inspection is that it does not need to stop the fan. When the fan is not shutting down, the blades of the fan are rotated and the UAV camera hovers to collect the data of all blades. picture. Patent No. CN114296483A discloses an intelligent inspection method for wind turbines under non-stop state. In this inspection method, a specific generation method of waypoints is disclosed, that is, in order to ensure that the UAV can obtain images on both sides of the wind turbine , first generate four waypoints on both sides of the wind turbine to form a rectangle, and then plan waypoints on the two sides of the rectangle.

It should be noted that in the above-mentioned dynamic inspection technology, on the one hand, the waypoint planning method is relatively complicated, and the waypoints on both sides of the wind turbine need to be calculated multiple times to obtain; When reaching each inspection waypoint, the camera is controlled to take pictures all the time, until the three blades are taken before stopping to take pictures to the next waypoint, resulting in invalid pictures.

In view of this, the present invention is proposed.

Contents of the invention

The invention provides a method for dynamic inspection of a fan and electronic equipment to solve the problem in the prior art that the planning efficiency of a dynamic inspection point for a dynamic inspection of a fan is low.

According to the first aspect of the present invention, a method for dynamic inspection of a wind turbine is provided, including: determining a target viewpoint on the radius of the wind rotor, wherein there is a redundant distance between the target viewpoint and the blade tip position of the radius of the wind rotor, and the wind rotor The radius is the radius of the circular wheel generated by the rotation of the fan blades in the horizontal direction; multiple viewpoints are planned between the center of the wind wheel radius and the target viewpoint based on the target viewpoint; the multiple viewpoints are arranged according to the real-time yaw direction of the fan and anti-yaw directions respectively to obtain the inspection points on the front and back of the wind turbine; As a result, the drone camera is controlled to take pictures.

Further, determining the redundant distance includes: determining the maximum length of the radius of the wind wheel that can be photographed by the UAV camera under the inspection distance; obtaining the preset ratio of the fan blade tip occupying the image captured by the UAV camera; The redundancy distance is determined based on the preset ratio and the maximum length.

Further, planning multiple viewpoints between the radius center of the wind rotor and the target viewpoint based on the target viewpoint includes: determining the wind turbine based on the distance between the target viewpoint and the blade tip of the fan, the maximum length, and the radius of the wind rotor. The number S of viewpoints between the blade root and the target viewpoint; S viewpoints are planned on the radius of the wind rotor, wherein the distance between two adjacent viewpoints among the S viewpoints is equal.

Further, the method further includes: generating crossing waypoints on both sides of the wind turbine based on the target viewpoint, and generating crossing waypoints on both sides of the wind turbine based on the target viewpoint includes: taking the target viewpoint as the center of a circle, and performing the inspection The distance is a radius to generate a circular arc, and two passing waypoints are determined on the circular arc, wherein the two passing points form a straight line with the target viewpoint, and the included angle between each straight line and the radius of the wind wheel is the same.

Further, before controlling the rangefinder to measure the distance of the fan blades, the method also includes: adjusting the distance between the yaw direction of the rangefinder hovering on each waypoint and the yaw direction of the camera according to a preset strategy The included angle, wherein, in the preset strategy, the distance between the waypoint and the hub center is inversely proportional to the included angle corresponding to the waypoint, and the maximum value of the included angle is smaller than the preset angle.

Further, controlling the camera of the UAV to take pictures according to the ranging results includes: controlling the camera of the UAV to take pictures when all of the following conditions are met at the same time: the reflectivity of the laser received by the rangefinder at the current moment is greater than the first Preset reflectivity; the laser reflectivity received by the rangefinder at the previous moment of the current moment is less than the second preset reflectivity; the distance measured by the rangefinder meets the preset interval; There is a preset interval between.

Further, before controlling the UAV camera to take pictures according to the ranging result, the method also includes: adjusting the flying height of the UAV according to the real-time waypoint and real-time wind speed of the UAV; based on the flying height, The inspection distance adjusts the pose of the camera.

According to a second aspect of the present invention, there is provided an electronic device comprising a memory and a processor, the memory having computer instructions stored thereon, the computer instructions causing any one of the above methods to be performed when executed by the processor .

The invention provides a method and electronic equipment for dynamic inspection of a wind turbine. The method includes: determining a target viewpoint on the radius of the wind rotor, wherein there is a redundant distance between the target viewpoint and the blade tip position of the radius of the wind rotor, and the wind rotor The radius is the radius of the circular wheel generated by the rotation of the fan blades in the horizontal direction; multiple viewpoints are planned between the center of the wind wheel radius and the target viewpoint based on the target viewpoint; the multiple viewpoints are arranged according to the real-time yaw direction of the fan and anti-yaw directions respectively to obtain the inspection points on the front and back of the wind turbine; As a result, the drone camera is controlled to take pictures. It solves the problem of low efficiency in the planning of dynamic inspection fan inspection waypoints in the prior art.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

FIG. 1 is a schematic flowchart of a method for dynamic inspection of a fan provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of the target viewpoint determined on the radius of the wind rotor provided by the embodiment of the present invention;

Fig. 3 is a schematic diagram of multiple viewpoints planned between the center of the circle and the target viewpoint provided by an embodiment of the present invention;

Fig. 4 is a schematic diagram of multiple waypoints obtained according to viewpoints provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of waypoints corresponding to two target viewpoints provided by an embodiment of the present invention;

Fig. 6 is a schematic diagram of a wind turbine crossing a waypoint provided by an embodiment of the present invention;

Fig. 7 is a schematic diagram of a wind turbine crossing a waypoint in the prior art;

Fig. 8 is a schematic diagram of the drone provided by the embodiment of the present invention on the front and back of the wind turbine.

Detailed ways

In order to make the above and other features and advantages of the present invention clearer, the present invention will be further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art, and are only exemplary rather than restrictive.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the specific details need not be employed to practice the invention. In other instances, well-known steps or operations have not been described in detail in order not to obscure the invention.

This solution provides a method for dynamic inspection of fans and electronic equipment, combined with Figure 1, the method includes:

Step S11, determine the target viewpoint on the radius of the wind rotor, wherein there is a redundant distance between the target viewpoint and the blade tip position of the radius of the rotor, and the radius of the rotor is the radius of the circular wheel generated by the rotation of the fan blades in the horizontal direction.

Specifically, this solution can use an on-board computer or server and other devices with data processing functions as the execution subject of the method of this solution. The radius of the above-mentioned wind wheel can be that the UAV flies to the sky above the fan, and the laser radar is used to collect data. After modeling, the rotor radius is used to represent a fan blade in a horizontal state. The target viewpoint planned on the rotor radius is shown in Figure 2. Combining with Figure 2, there is a redundant distance between the target viewpoint and the blade tip, that is, It is said that the planned position of the target viewpoint is near the tip of the leaf but does not coincide with the tip of the leaf.

What needs to be explained here is that the concept of viewpoint in this scheme is the position to be photographed by the UAV camera, and the viewpoint planned in the radius of the wind rotor is that when the fan is actually rotating, a certain position on the fan blade in the horizontal state A point, the UAV camera is aimed at this point when shooting.

What needs to be explained here is that the UAV flies over the wind turbine, first identifies the yaw angle of the wind turbine, and then models the wind turbine to obtain the attitude of the wind turbine radius.

Step S13, based on the target viewpoint, plan a plurality of viewpoints between the radius center of the wind rotor and the target viewpoint.

Specifically, referring to FIG. 3 , this solution can evenly plan multiple viewpoints between the center of the circle and the target viewpoint, and the distance between every two viewpoints is equal.

In step S15, the plurality of viewpoints are respectively translated according to the real-time yaw direction and the reverse yaw direction of the wind turbine to obtain inspection points on the front and back of the wind turbine.

Specifically, in combination with Figure 4, after planning all the viewpoints on the horizontal radius, this solution is different from the existing technology that needs to calculate each waypoint multiple times, and only needs to follow the real-time yaw direction and reverse direction of all viewpoints as a whole. The yaw direction is translated separately, that is, all the inspection waypoints on the front and back of the wind turbine can be obtained. Compared with the existing technology, the calculation amount of the inspection waypoints in this scheme is less and the waypoint generation efficiency is high. Moreover, this scheme is Based on the inspection waypoints generated from the viewpoint on the blade, it can be guaranteed that the UAV will be able to photograph the blade within its attitude range.

Step S17, when the UAV hovers at each inspection point, the range finder is controlled to measure the distance of the fan blades, and the UAV camera is controlled to take pictures according to the distance measurement result.

Specifically, after planning the inspection waypoints on the front and back of the fan, this solution can control the UAV to take pictures of the fan blades according to the inspection waypoints. If it keeps rotating, there must be a blade in a horizontal state at a certain moment, that is, coincident with the radius of the above-mentioned wind wheel, and the UAV camera can capture the image of the blade at the waypoint. It should also be noted that this solution is different from the prior art in that the UAV camera is controlled to start taking pictures after the UAV reaches the waypoint, because there is a large gap between adjacent blades of the fan, so if the UAV If you keep taking pictures, on the one hand, it will lead to unnecessary waste of resources, and on the other hand, you will take a large number of invalid pictures (images that do not include fan blades). Therefore, this plan proposes to add a laser range finder to the drone, and After the UAV arrives at the waypoint, control the laser rangefinder to measure the distance in the direction of the horizontal radius, and control the UAV camera to take pictures according to the ranging result, that is, this solution can use the laser rangefinder to judge whether there is When the blades pass the horizontal radius of the wind wheel, the UAV camera is controlled to take pictures only when it is judged that there are blades passing by, and the UAV camera is controlled to stop working when no blades pass by, which greatly saves hardware resources and avoids Invalid photo.

What needs to be explained here is that during the rotation of the fan, the speed of the tip of the blade is very high, and the area of the tip is relatively small. Therefore, through the strategy of triggering the photo, it is very likely that the rangefinder will not be able to detect the tip of the blade. Part of the result does not trigger the problem of missed shots in the photo. Referring to Figure 5, the above generated waypoints include two corresponding waypoints generated according to the target viewpoint: waypoint 1 corresponding to the target viewpoint and waypoint 1 corresponding to the target viewpoint. Waypoint 2, because there is a redundant distance between the target viewpoint and the blade tip, that is, the target viewpoint does not coincide with the blade tip, therefore, when the drone is in the above two waypoints, the blade tip captured by the drone will not appear in the The edge of the captured image, but appears in the middle area of the captured image. If the tip of the blade captured by the drone does not appear on the edge of the captured image, because in the drone, the yaw angle of the camera and the yaw of the rangefinder If the angle is the same, then the drone camera must be able to capture the tip of the blade, and the rangefinder must be triggered by the tip of the blade to take pictures. Therefore, through the above two corresponding waypoints generated according to the target viewpoint, this solution can ensure that under the above two waypoints, the rangefinder can measure the distance of the tip part of the UAV within its attitude range at a certain moment. As a result, the triggering of photographing can be realized, and the missed photographing of the blade tip can be avoided.

Optionally, determining the redundancy distance includes:

Step S1300, determine the maximum length of the radius of the wind wheel that can be photographed by the UAV camera under the inspection distance.

Specifically, the above-mentioned inspection distance can be greater than or equal to the safe distance between the UAV and the wind turbine during the inspection process, and the maximum length of the radius of the above-mentioned wind wheel is the maximum range that can be covered by the camera of the UAV under the inspection distance. , the following is the specific calculation method of the maximum length k:

Among them, W is the image width captured by the UAV camera, p is the pixel size of the camera, and f is the focal length of the camera.

Step S1301, obtaining the preset proportion of the fan blade tip occupying the image captured by the UAV camera, and determining the redundant distance based on the preset proportion and the maximum length.

Specifically, the above preset ratio can be 3/4, that is, this solution can be preset in the captured image, and the tip of the blade should account for 3/4 of the captured image, because when the tip of the blade accounts for 3/4 of the captured image , the camera must be able to capture the blade tip. Then this solution determines the redundant distance D _r based on the preset ratio and the maximum length. The following is the specific calculation method of the redundant distance D _r :

D _r =(1-preset ratio)×k.

Optionally, step S13 plans multiple viewpoints between the radius center of the wind rotor and the target viewpoint based on the target viewpoint, including:

Step S131 , based on the distance between the target viewpoint and the blade tip of the fan, the maximum length, and the radius of the rotor, determine the number S of viewpoints between the root of the fan blade and the target viewpoint.

Specifically, the method for calculating the number of viewpoints S is as follows:

Among them, r _b is the radius of the wind rotor, D _r is the redundant distance, and k is the maximum length.

Step S132, planning S viewpoints on the radius of the wind rotor, wherein the distances between two adjacent viewpoints among the S viewpoints are equal.

Optionally, the method further includes: generating crossing waypoints on both sides of the wind turbine based on the target viewpoint, wherein generating crossing waypoints on both sides of the wind turbine based on the target viewpoint includes: combining with FIG. 6 , taking the target viewpoint is the center of the circle, the inspection distance is the radius to generate a circular arc, and two crossing waypoints are determined on the circular arc, wherein the two crossing points form a straight line with the target viewpoint, and each straight line is connected with the wind The included angles of the wheel radii are the same, and the included angle between each straight line and the radius of the wind wheel may be 45°.

Specifically, when the UAV performs dynamic inspections, it needs to detour from the front of the fan to the back of the fan. In the prior art, as shown in Figure 7, the UAV's detour is at a right angle. That is, the connecting line between the two waypoints is perpendicular to the wind wheel, but this way of traversing leads to a longer flight time of the UAV. In this embodiment, the crossing waypoint is generated by making an arc, so that the UAV can quickly realize the crossing from the front to the back of the wind turbine on the basis of ensuring safety.

Optionally, before step S17 controls the range finder to measure the fan blade, the method also includes:

Adjust the angle between the yaw direction of the rangefinder hovering on each waypoint and the yaw direction of the camera according to a preset strategy, wherein, in the preset strategy, the distance between the waypoint and the hub center The size of the included angle corresponding to the point is inversely proportional, and the maximum value of the included angle is smaller than the preset angle (may be 18°).

Specifically, in order to ensure that during the inspection process, the movement of the fan impeller can stably trigger the shooting of the camera when the movement of the fan impeller blocks the field of view of the laser rangefinder. The included angle between the heading directions makes the laser range finder aim at the position close to the center of the impeller at each waypoint, so as to measure effective data and then trigger a photo. Since the head of the UAV is rigidly connected to the laser rangefinder, it is only necessary to adjust the head of the UAV to align with the center of the fan impeller during the actual inspection process. It should be noted that at the position of the blade root and blade tip, the angle between the UAV yaw (UAV rangefinder yaw) and the load yaw is set to a maximum angle of 18°, and the angles close to the center of the wind rotor are successively increased. The position is reduced.

In the process of collecting data by waypoint, the UAV will constantly adjust the angle between the nose and the gimbal to ensure that the wind turbine can continuously trigger the camera to shoot, and each waypoint will hover for about 15s to ensure that it is at the waypoint position The data of each fan impeller can be collected.

Optionally, control the UAV camera to take pictures according to the ranging results, including:

When all the following conditions are met at the same time, control the drone camera to take pictures:

The laser reflectivity received by the rangefinder at the current moment is greater than the first preset reflectivity 40; the laser reflectivity received by the rangefinder at the previous moment at the current moment is less than the second preset reflectivity 40; The obtained distance satisfies the preset interval [inspection distance -30, inspection distance +30]; there is a preset interval of 200ms between the current moment and the moment when the camera took the latest photo.

It should be noted that the above-mentioned first preset reflectivity can be determined by the ranging characteristics of the laser rangefinder itself. If the reflectivity received at the current moment is less than or equal to 40, the ranging distance is considered to be inaccurate, and the camera is not triggered at this moment to save hardware resources.

Optionally, before controlling the UAV camera to take pictures according to the ranging result, the method also includes:

Step S161, adjusting the flying height of the drone according to the real-time waypoint and real-time wind speed of the drone;

Step S162, adjusting the attitude of the camera based on the flying height and inspection distance.

The technical effects and technical details of the above-mentioned steps S161 to S162 are described as follows:

Due to the influence of the turbulence of the fan blades, the UAV's pitch angle attitude is different when it is inspecting the front of the wind rotor and the back inspection. When in the back, the drone's nose will be downward at an angle to the horizontal. Therefore, when the drone is inspecting the back of the fan, if the speed of the fan impeller is too fast, after the camera is triggered to take pictures, it is easy to fail to capture the wind wheel at the time of camera exposure. Compensate for inclination. When the UAV passes through the wind wheel, that is, in the process of flying from the front of the wind turbine to the back of the wind turbine, the height of the UAV will slowly rise to a certain height, which is adjusted according to the speed of the wind turbine. The platform will slowly adjust the pitch angle downwards, the size of the angle is:

Among them, _he represents the ascending height of the UAV flying from the front of the wind turbine to the back of the wind turbine, and D represents the inspection distance.

It is to be understood that the specific features, operations and details previously described herein with respect to the method of the present invention may be similarly applied to the apparatus and system of the present invention, or vice versa. In addition, each step of the method of the present invention described above can be performed by corresponding components or units of the device or system of the present invention.

It should be understood that each module/unit of the apparatus of the present invention may be fully or partially realized by software, hardware, firmware or a combination thereof. Each of the modules/units can be embedded in the processor of the computer device in the form of hardware or firmware or independent of the processor, and can also be stored in the memory of the computer device in the form of software for the processor to call to execute the various modules. Operation of modules/units. Each of the modules/units may be realized as an independent component or module, or two or more modules/units may be realized as a single component or module.

In one embodiment, there is provided a computer device comprising a memory and a processor, the memory having stored thereon computer instructions executable by the processor, the computer instructions, when executed by the processor, instructing the processing The device executes each step of the method of the embodiment of the present invention. The computer device may broadly be a server, a terminal, or any other electronic device with necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc. connected through a system bus. The processor of the computer device may be used to provide the necessary calculation, processing and/or control capabilities. The memory of the computer device may include non-volatile storage media and internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface and communication interface of the computer equipment can be used to connect and communicate with external equipment through the network. The computer program executes the steps of the method of the present invention when executed by a processor.

The present invention can be implemented as a computer-readable storage medium on which a computer program is stored, and when executed by a processor, the computer program causes the steps of the method in the embodiment of the present invention to be executed. In one embodiment, the computer program is distributed over a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed and executed in a distributed fashion by one or more computer devices or processors . A single method step/operation, or two or more method steps/operations, may be performed by a single computing device or processor or by two or more computing devices or processors. One or more method steps/actions may be performed by one or more computing devices or processors, and one or more other method steps/operations may be performed by one or more other computing devices or processors. One or more computer devices or processors may perform a single method step/action, or two or more method steps/operations.

Those of ordinary skill in the art can understand that the method steps of the present invention can be completed by instructing related hardware such as a computer device or a processor through a computer program, and the computer program can be stored in a non-transitory computer-readable storage medium. The program, when executed, causes the steps of the present invention to be performed. Any reference herein to memory, storage, databases, or other media may include non-volatile and/or volatile memory, as appropriate. Examples of nonvolatile memory include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data Storage devices, optical data storage devices, hard drives, solid state drives, etc. Examples of volatile memory include random access memory (RAM), external cache memory, and the like.

The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features have been described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such a combination.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (8)

1. A method for dynamic inspection of a fan, comprising:

determining a target viewpoint on the radius of a wind wheel, wherein redundant distances exist between the target viewpoint and the tip position of the radius of the wind wheel, and the radius of the wind wheel is the radius of a round wheel generated by rotation of a fan blade in the horizontal direction;

planning a plurality of viewpoints between the radius circle centers of the wind wheels and the target viewpoints based on the target viewpoints;

respectively translating the multiple viewpoints according to the real-time yaw direction and the anti-yaw direction of the fan to obtain tour inspection waypoints on the front side and the back side of the fan;

when the unmanned aerial vehicle flies to each inspection navigation point to hover, the range finder is controlled to measure the distance of the fan blade, and the unmanned aerial vehicle camera is controlled to take a picture according to the distance measurement result.

2. The method of claim 1, wherein determining the redundancy distance comprises:

determining the maximum length of the radius of the wind wheel which can be shot by the unmanned aerial vehicle camera under the inspection distance;

acquiring a preset proportion of a fan blade tip to an image shot by an unmanned aerial vehicle camera;

and determining the redundant distance based on the preset proportion and the maximum length.

3. The method of claim 2, wherein planning a plurality of viewpoints between the rotor radius center and a target viewpoint based on the target viewpoint comprises:

determining the number S of viewpoints from a fan blade root to the target viewpoint based on the distance between the target viewpoint and the fan blade tip, the maximum length and the radius of the wind wheel;

and planning S viewpoints on the radius of the wind wheel, wherein the distances between two adjacent viewpoints in the S viewpoints are equal.

4. The method according to claim 2, wherein the method further comprises: generating traversing waypoints on two sides of the fan based on the target viewpoint, the generating traversing waypoints on two sides of the fan based on the target viewpoint comprises:

and generating an arc by taking the target viewpoint as a circle center and taking the inspection distance as a radius, and determining two crossing points on the arc, wherein the two crossing points and the target viewpoint respectively form a straight line, and the included angle of each straight line and the radius of the wind wheel is the same.

5. The method of claim 1, wherein prior to controlling the rangefinder to range the fan blade, the method further comprises:

and adjusting an included angle between the yaw direction of the range finder hovering on each waypoint and the yaw direction of the camera according to a preset strategy, wherein in the preset strategy, the distance between the waypoint and the center of the hub is inversely proportional to the included angle corresponding to the waypoint, and the maximum value of the included angle is smaller than a preset angle.

6. The method of claim 1, wherein controlling the unmanned aerial vehicle camera to take a picture based on the ranging result comprises:

under the condition that all the following conditions are met at the same time, controlling the unmanned aerial vehicle camera to take a picture:

the laser reflectivity received by the range finder at the current moment is larger than a first preset reflectivity;

the laser reflectivity received by the range finder at the moment last than the current moment is smaller than the second preset reflectivity;

the distance measured by the distance meter meets a preset interval;

a preset interval exists between the current moment and the moment when the camera recently shoots.

7. The method of claim 1, wherein prior to controlling the unmanned aerial vehicle camera to take a picture based on the ranging result, the method further comprises:

the flying height of the unmanned aerial vehicle is adjusted according to the navigation point where the unmanned aerial vehicle is located in real time and the real-time wind speed;

and adjusting the posture of the camera based on the flying height and the inspection distance.

8. An electronic device comprising a memory and a processor, the memory having stored thereon computer instructions, which when executed by the processor result in the method of any of claims 1 to 7 being performed.