CN-121979227-A - Driving control method for unmanned aerial vehicle city railway inspection

CN121979227ACN 121979227 ACN121979227 ACN 121979227ACN-121979227-A

Abstract

The invention provides a driving control method for railway patrol of an unmanned aerial vehicle urban area, which comprises the steps of obtaining a patrol task issued by a ground center, driving an unmanned aerial vehicle to patrol a patrol main body according to a patrol route, detecting whether a sudden working condition occurs in real time, controlling the shortest distance between the unmanned aerial vehicle and the current patrol main body to be larger than a first safety distance corresponding to the current patrol main body under the condition that the sudden working condition does not occur, determining the working condition grade of the sudden working condition under the condition that the sudden working condition occurs, generating a temporary risk avoidance route according to the working condition grade, and driving the unmanned aerial vehicle to navigate according to the temporary risk avoidance route. According to the method and the device, the first safety distance corresponding to the inspection main body is preset, so that the unmanned aerial vehicle is ensured to keep a safety interval with the inspection target all the time under the normal working condition, collision risks are avoided, the problem that the safety distance is inaccurate to control in traditional inspection is solved, the special temporary risk avoidance route is generated aiming at the sudden working conditions of different grades, grading treatment and quick response are realized, and equipment faults are effectively reduced.

Inventors

Gui Wenbiao
QIN YONG
YAN PENGFEI
ZHAO YIFU
ZHENG TIANKUN
Liao Caicao
ZHOU RUI
LI BOYANG
ZHOU ZHIYUAN
ZHANG YUCHEN

Assignees

台州畅行轨道交通运营管理有限公司

Dates

Publication Date: 20260505
Application Date: 20251212

Claims (10)

1. The driving control method for the railway inspection of the unmanned aerial vehicle market domain is applied to the unmanned aerial vehicle and is characterized by comprising the following steps: The method comprises the steps of obtaining a patrol task issued by a ground center, wherein the patrol task at least comprises a patrol route, an electronic fence range of the patrol route, at least one patrol main body to be subjected to patrol in the patrol route and a first safety distance corresponding to each patrol main body; driving the unmanned aerial vehicle to carry out inspection on the inspection main body according to the inspection route, and detecting whether a sudden working condition occurs in real time; Controlling the shortest distance between the unmanned aerial vehicle and the current inspection main body to be larger than a first safety distance corresponding to the current inspection main body under the condition that the sudden working condition does not occur; under the condition that the sudden working condition occurs, the working condition grade of the sudden working condition is determined, a temporary risk avoiding route is generated according to the working condition grade, and the unmanned aerial vehicle is driven to navigate according to the temporary risk avoiding route.
2. The drive control method according to claim 1, wherein the inspection main body includes a bridge structure along a railway of a city to be inspected, an outside line device, and a subway protection area.
3. The drive control method according to claim 1, wherein the detecting in real time whether the sudden operation condition occurs includes: detecting whether the current environment of the unmanned aerial vehicle meets any one of the following conditions, and determining that a sudden working condition occurs under the condition that any one of the following conditions is met: the wind speed measuring sensor collects that the current wind power level is greater than level 4; The rainfall sensor collects that the current rainwater level is higher than that of medium rain; the attitude sensor acquires that the shaking angle of the body of the current unmanned aerial vehicle is larger than 15 degrees; the visibility sensor collects the visibility of the current level to be less than or equal to 1000 meters.
4. The driving control method according to claim 1, wherein the controlling the shortest distance between the unmanned aerial vehicle and the currently-inspected inspection main body to be greater than the first safety distance corresponding to the inspection main body includes: Acquiring the coordinates of the unmanned aerial vehicle at the current position of the unmanned aerial vehicle in real time; scanning a target contour of a current inspection main body based on a laser radar, and extracting feature point coordinates of a plurality of feature points positioned in different directions on the target contour; Calculating the shortest distance between the unmanned aerial vehicle and the current inspection main body according to the unmanned aerial vehicle coordinates and each characteristic point coordinate; Detecting whether the shortest distance is larger than or equal to the first safety distance, and driving the unmanned aerial vehicle to navigate in a direction away from the current inspection main body under the condition that the shortest distance is smaller than the first safety distance until the shortest distance is larger than or equal to the first safety distance.
5. The drive control method of claim 3, wherein the determining the operating condition level of the transient operating condition comprises: acquiring sensing data acquired by the wind speed measuring sensor, the rainfall sensor, the attitude sensor and the visibility sensor; performing grade evaluation on the sensing data according to the first-level working condition triggering condition, the second-level working condition triggering condition and the third-level working condition triggering condition to determine the working condition grade of the sudden working condition, The first-level working condition triggering condition at least comprises that a wind speed measuring sensor collects the current wind power level to be more than level 4, a rainfall sensor collects the current rainwater level to be higher than medium rain, a gesture sensor collects the shaking angle of a fuselage of the current unmanned aerial vehicle to be more than 15 degrees and less than or equal to 25 degrees, and a visibility sensor collects the current horizontal visibility to be less than or equal to 1000 meters; The secondary working condition triggering condition at least comprises that a wind speed measuring sensor collects the current wind power level to be more than 6 levels, a rainfall sensor collects the current rainwater level to be higher than heavy rain, a gesture sensor collects the current shaking angle of the unmanned aerial vehicle body to be more than 25 degrees and less than or equal to 35 degrees, and a visibility sensor collects the current horizontal visibility to be less than or equal to 500 meters; The three-level working condition triggering condition at least comprises that a wind speed measuring sensor collects the current wind power level to be more than 8 levels, a rainfall sensor collects the current rainwater level to be higher than the storm, a gesture sensor collects the current unmanned aerial vehicle body shaking angle to be more than 35 degrees, and a visibility sensor collects the current horizontal visibility to be less than or equal to 300 meters.
6. The method according to claim 5, wherein the step of evaluating the sensed data to determine the operating condition level of the sudden operating condition according to the first-stage operating condition triggering condition, the second-stage operating condition triggering condition, and the third-stage operating condition triggering condition includes: Under the condition that the sensing data meets any one of the primary working condition triggering conditions, determining the working condition grade of the sudden working condition as a primary working condition; Under the condition that the sensing data meets any one of the secondary working condition triggering conditions or at least two of the primary working conditions, determining the working condition grade of the sudden working condition as a secondary working condition; and under the condition that the sensing data meets any one of the three-level working condition triggering conditions or at least two of the two-level working conditions, determining the working condition grade of the sudden working condition as the three-level working condition.
7. The driving control method according to claim 6, wherein the generating a temporary risk avoidance route according to the operating condition level, driving the unmanned aerial vehicle to navigate according to the temporary risk avoidance route, comprises: Under the condition that the working condition level of the sudden working condition is the first-level working condition, taking the nearest stable airspace as an end point, and taking the electronic fence range and the second safety distance as navigation limiting conditions, generating a first-level temporary risk avoidance route, wherein the second safety distance is a preset multiple of the first safety distance; under the condition that the working condition grade of the sudden working condition is a secondary working condition, a secondary temporary risk avoiding route is generated by taking a hangar of the unmanned aerial vehicle as an end point; under the condition that the working condition level of the sudden working condition is three-level working condition, scanning a flat forced landing area with the radius within 200 meters by taking the current position of the unmanned aerial vehicle as a circle center, and generating a three-level temporary risk avoiding route by taking the nearest flat forced landing area as an end point.
8. An electronic device comprising at least a memory, a processor, the memory having stored thereon a computer program, characterized in that the processor, when executing the computer program on the memory, implements the steps of the method for driving control of unmanned aerial vehicle municipality-area railway patrol as claimed in any one of claims 1 to 7.
9. A drone comprising at least an electronic device according to claim 8.
10. An unmanned aerial vehicle inspection system, characterized by comprising at least: A hangar; A ground center; and at least one unmanned aerial vehicle as claimed in claim 9.

Description

Driving control method for unmanned aerial vehicle city railway inspection Technical Field The disclosure relates to the technical field of unmanned aerial vehicle control, in particular to a driving control method for railway inspection in an unmanned aerial vehicle city, electronic equipment, an unmanned aerial vehicle and an unmanned aerial vehicle inspection system. Background Along with the acceleration of the urban railway line, the urban railway line is becoming dense and the system is becoming complex, and the requirement of safe and efficient operation and maintenance is difficult to meet in the traditional manual inspection mode. Unmanned aerial vehicles gradually become key technologies for urban railway inspection by virtue of the advantages of flexible deployment and wide visual field, but a plurality of pain points still exist in industrial application. The current unmanned aerial vehicle inspection operation flow lacks unified regulation, flight path planning and safety distance setting depend on experiences, and safety protection requirements of different inspection subjects are not met in a targeted manner. Meanwhile, the emergency working condition coping mechanism is imperfect, and when the emergency such as equipment failure, bad weather, electromagnetic interference and the like is faced, a scientific scheme of grading treatment is lacking, so that inspection interruption, equipment collision and even task failure are easily caused, and the inspection safety and continuity are seriously affected. Disclosure of Invention An object of the embodiments of the present disclosure is to provide a driving control method, electronic equipment, an unmanned aerial vehicle and an unmanned aerial vehicle inspection system for inspection of a railway in an unmanned aerial vehicle market, which are used for solving the problems existing in the prior art. The driving control method for the railway patrol of the unmanned aerial vehicle urban area is applied to an unmanned aerial vehicle and comprises the steps of obtaining a patrol task issued by a ground center, wherein the patrol task at least comprises a patrol route and an electronic fence range thereof, at least one patrol main body to be subjected to patrol in the patrol route, and a first safety distance corresponding to each patrol main body, driving the unmanned aerial vehicle to patrol the patrol main bodies according to the patrol route, detecting whether a sudden working condition occurs in real time, controlling the shortest distance between the unmanned aerial vehicle and the current patrol main body to be larger than the first safety distance corresponding to the current patrol main body under the condition that the sudden working condition does not occur, determining the working condition grade of the sudden working condition under the condition that the sudden working condition occurs, generating a temporary risk-avoiding route according to the working condition grade, and driving the unmanned aerial vehicle to sail according to the temporary risk-avoiding route. The embodiment of the disclosure also provides an electronic device, which at least comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor realizes the steps of the driving control method for the unmanned aerial vehicle urban railway inspection when executing the computer program on the memory. The embodiment of the disclosure also provides an unmanned aerial vehicle, which at least comprises the electronic equipment. The embodiment of the disclosure also provides an unmanned aerial vehicle inspection system which at least comprises a hangar, a ground center and at least one unmanned aerial vehicle. The method has the advantages that through the first safety distance corresponding to the preset inspection main body, the unmanned aerial vehicle is ensured to keep a safety interval with the inspection target all the time under the normal working condition, collision risks are avoided, the problem that the safety distance is inaccurate to control in traditional inspection is solved, the special temporary danger avoidance route is further generated aiming at different grades of sudden working conditions, grading treatment and quick response are achieved, loss caused by unexpected conditions such as equipment faults and environmental mutation is effectively reduced, and safety of the unmanned aerial vehicle and railway facilities in the urban railway inspection process is guaranteed. Drawings In order to more clearly illustrate one or more embodiments of the present specification or the prior art solutions, the following description will briefly introduce the drawings that are required to be used in the embodiments or the prior art descriptions, it is obvious that the drawings in the following description are only some embodiments described in the present specification, and other drawings may be obtained according to these drawing