Generation method of routing inspection configuration information and computer equipment

Abstract

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, and discloses an inspection configuration information generation method and computer equipment. The method comprises the following steps: acquiring line equipment information, determining a base station meeting a preset base station screening condition from a plurality of base stations as a target base station according to position information of the base stations and position information of a target inspection line, determining a maximum reachable range of an unmanned aerial vehicle and a maximum communication range of the target base station, and determining a target inspection line according to the maximum reachable range and the maximum communication range. And determining the cell meeting a preset cell screening condition in the plurality of cells as a target cell, and generating inspection configuration information according to the target base station and the target cell. According to the embodiment of the invention, the target base station meeting the preset base station screening condition can be flexibly configured, and the starting intelligence degree of the base station can be improved. In addition, the target nest is automatically configured in combination with the maximum reachable range of the unmanned aerial vehicle, so that the method can adapt to the working conditions of different unmanned aerial vehicles.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of drone technology, and in particular to a method for generating inspection configuration information and a computer device. Background Art

[0002] Drones are often used in various inspection scenarios. They can inspect different inspection routes and transmit inspection images to the background so that the background can identify whether there are any abnormalities on the inspection route. Usually, the inspection route is long. In order to increase the endurance and communication capabilities of drones, people need to deploy multiple base stations and machine nests near each inspection route. Different inspection routes can share the same base station or machine nest.

[0003] Before the inspection, the user needs to configure the base station bound to the inspection route and the landing nest of the drone in advance on the application interface. However, the user's configuration is prone to unreasonableness. For example, it is easy to configure two base stations that are close to each other or two base stations that are far away. The overlapping communication range of the two base stations is large, which can easily cause individual base stations to be relatively redundant, resulting in the phenomenon of individual base stations wasting power, or the distance between the two base stations is far and unable to complete the relay transmission of data. In addition, since the one-way endurance of different drones is different, or different drones belonging to the same category will have uneven one-way endurance after long-term use, the user's configuration can easily cause the drone to land in the nest in advance or be unable to land in the nest and be forced to land at the alternate landing point. Therefore, the intelligent level of the method of configuring base stations and nests in the relevant technology is not high. Summary of the invention

[0004] One purpose of the embodiments of the present application is to provide a method for generating inspection configuration information and a computer device to solve the technical problem that the method for configuring base stations and machine nests in the related art has a low degree of intelligence.

[0005] In a first aspect, an embodiment of the present application provides a method for generating inspection configuration information, including:

[0006] Acquire line equipment information, the line equipment information includes line information, machine nest information and base station information, the line information includes location information of the target inspection line, the machine nest information includes location information of multiple machine nests, the base station information includes location information of multiple base stations, and the machine nest is used to provide services for the UAV;

[0007] According to the location information of the base station and the location information of the target inspection route, a base station satisfying a preset base station screening condition is determined as a target base station among the multiple base stations;

[0008] Determine the maximum reachable range of the drone and the maximum communication range of the target base station;

[0009] According to the maximum reachable range and the maximum communication range, determining a nest that meets a preset nest screening condition among the plurality of nests as a target nest;

[0010] Inspection configuration information is generated according to the target base station and the target machine nest, and the inspection configuration information is used to instruct to turn on the target base station and instruct the drone to land on the target machine nest.

[0011] Optionally, determining, according to the location information of the base station and the location information of the target inspection route, a base station satisfying a preset base station screening condition among the multiple base stations as a target base station comprises:

[0012] According to the location information of the base station, a base station within the maximum communication range of the i-th target base station is determined as a candidate base station, and the base station connected when the UAV starts patrolling along the target patrol route is the first target base station, where i is a positive integer;

[0013] According to the location information of the candidate base stations and the location information of the target inspection route, a base station satisfying a preset base station screening condition is determined as the (i+1)th target base station in at least one of the candidate base stations.

[0014] Optionally, determining, according to the location information of the candidate base stations and the location information of the target inspection route, a base station satisfying a preset base station screening condition in at least one of the candidate base stations as a target base station includes:

[0015] Calculating a base station score of each of the candidate base stations according to the location information of the candidate base stations and the location information of the target inspection route;

[0016] A base station whose base station score meets a preset base station screening condition is determined as a target base station.

[0017] Optionally, determining a base station whose base station score meets a preset base station screening condition as a target base station includes:

[0018] determining a maximum base station score among the base station scores of at least one of the candidate base stations;

[0019] It is determined that a base station with a maximum base station score meets a preset base station screening condition, wherein the base station with the maximum base station score is a target base station.

[0020] Optionally, calculating the base station score of each candidate base station according to the location information of the candidate base station and the location information of the target inspection route includes:

[0021] According to the location information of the candidate base station and the location information of the target inspection route, determining a location point on the target inspection route that is closest to the candidate base station as a first location point;

[0022] Determine a base station distance from the candidate base station to the i-th target base station;

[0023] Determine a first distance from the candidate base station to the first location point;

[0024] The base station distance and the first distance are fused according to a preset weighted algorithm to obtain a base station score.

[0025] Optionally, the determining, according to the maximum reachable range and the maximum communication range, a nest satisfying a preset nest screening condition among the plurality of nests as a target nest comprises:

[0026] According to the position information of the nest, the nest that falls within the maximum reachable range of the kth target nest is determined as a candidate nest, the starting nest when the UAV starts to inspect along the target inspection route is the first target nest, and k is a positive integer;

[0027] Selecting a candidate nest within the maximum communication range of the target base station from at least one of the candidate nests as a pending nest;

[0028] Calculate the nest score of each of the pending nests according to the location information of the pending nests and the location information of the target inspection route;

[0029] The pending nest whose nest score satisfies the preset nest screening condition is determined as the k+1th target nest.

[0030] Optionally, determining that the pending nest whose nest score satisfies a preset nest screening condition is the k+1th target nest includes:

[0031] Determining a maximum nest score among the nest scores of at least one of the pending nests;

[0032] It is determined that the pending nest with the maximum nest score meets the preset nest screening condition, wherein the pending nest with the maximum nest score is the k+1th target nest.

[0033] Optionally, according to the location information of the pending machine nest and the location information of the target inspection route, calculating the machine nest score of each pending machine nest includes:

[0034] According to the location information of the pending base station and the location information of the target inspection route, determine the location point on the target inspection route that is closest to the pending machine nest as the second location point;

[0035] Determine the distance between the pending machine nest and the kth target machine nest;

[0036] Determine a second distance from the pending machine nest to the second position point;

[0037] The machine nest distance and the second distance are fused according to a preset weighted algorithm to obtain a machine nest score.

[0038] In a second aspect, an embodiment of the present application provides a computer device, comprising a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, the computer device implements the above-mentioned method for generating inspection configuration information.

[0039] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the above-mentioned method for generating inspection configuration information.

[0040] The embodiments of the present application can achieve the following technical effects: in the method for generating inspection configuration information provided in the embodiments of the present application, line equipment information is obtained, the line equipment information includes line information, machine nest information and base station information, the line information includes the location information of the target inspection line, the machine nest information includes the location information of multiple machine nests, the base station information includes the location information of multiple base stations, the machine nest is used to provide services for the drone, according to the location information of the base station and the location information of the target inspection line, a base station that meets the preset base station screening conditions is determined as the target base station among multiple base stations, the maximum reachable range of the drone and the maximum communication range of the target base station are determined, according to the maximum reachable range and the maximum communication range, a machine nest that meets the preset machine nest screening conditions is determined as the target machine nest among multiple machine nests, and the target base station and the target machine nest are turned on. The embodiments of the present application can flexibly configure a target base station that meets the preset base station screening conditions, which is conducive to improving the intelligent degree of base station opening, so as to reduce the energy consumption of the base station and ensure that the base station can reliably cover the inspection range of the drone. In addition, the embodiment of the present application automatically configures the target nest in combination with the maximum reachable range of the drone, so that it can adapt to the working conditions of different drones to determine a suitable nest as the target nest, which is beneficial to ensure that the drone can obtain various services provided by the nest so as to complete the inspection work reliably and safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0042] Figure 1A schematic diagram of the system architecture of an inspection system provided in an embodiment of the present application;

[0043] Figure 2 A flowchart of a method for generating inspection configuration information provided in an embodiment of the present application;

[0044] Figure 3 A schematic diagram of an application interface provided in an embodiment of the present application;

[0045] Figure 4 A first application scenario diagram for configuring a target base station and a target machine nest provided in an embodiment of the present application;

[0046] Figure 5 A second application scenario diagram for configuring a target base station and a target machine nest provided in an embodiment of the present application;

[0047] Figure 6 A schematic diagram of the structure of a device for generating inspection configuration information provided in an embodiment of the present application;

[0048] Figure 7 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0050] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. In addition, although the functional module division is performed in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a sequence different from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in this application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0051] The present application embodiment provides a patrol inspection system. Figure 1 The inspection system 10 includes a drone 11, a base station 12, a machine nest 13 and a background 14.

[0052] The drone 11 is used to inspect the inspection line, wherein the drone 11 can take video images of the inspection line during flight. In some embodiments, the drone 11 can transmit the video images to the background 14 in real time through the machine nest 13. In some embodiments, the drone 11 can save the video images locally, and when the drone 11 lands on the machine nest 13, the drone 11 transmits the video images to the background 14 through the machine nest 13.

[0053] It is understandable that the inspection route can be an inspection route or other custom routes, such as a coastline or the outline of a building or the outline of an area, etc. It is understandable that the drone 11 can be a multi-rotor drone, a fixed-wing drone, an unmanned helicopter or a hybrid-wing drone, etc.

[0054] The base station 12 is connected to the drone 11 in communication, wherein the communication connection includes an image transmission connection or a WIFI connection, etc. As a relay station, the base station 12 can transmit data to and from the drone 11, for example, the machine nest 13 issues a control command, and the base station 12 transmits the control command to the drone 11, or the drone 11 transmits the location information of the drone 11 to the base station 12, and the base station 12 transmits the location information of the drone 11 to the machine nest 13, etc.

[0055] The number of base stations 12 may be multiple, wherein each base station 12 may be deployed along a patrol line, such that the patrol line is a patrol line, and the base stations 12 may be deployed on pole towers of the patrol line.

[0056] The machine nest 13 is connected to the base station 12 in communication, wherein the communication connection includes a picture transmission connection or a WIFI connection, etc. The machine nest 13 can transmit data to and from the base station 12, and can also provide various services for the drone, including battery replacement services, data transmission services, etc.

[0057] The number of the machine nests 13 can be one or at least two. When the number of the machine nests 13 is at least two, the first machine nest of the at least two machine nests 13 is the starting machine nest, and the last machine nest is the terminal machine nest. The drone 11 can take off from the starting machine nest to inspect the inspection route. When the drone 11 completes the inspection of the inspection route, the drone 11 can land on the terminal machine nest.

[0058] The backend 14 is connected to the machine nest 13 in communication, wherein the communication connection includes an Ethernet connection, an optical fiber connection, an image transmission connection, or a WIFI connection, etc. In addition, the backend 14 can also be connected to the base station 12 in communication, and the communication connection can be a 6G communication connection, a 5G communication connection, a 4G communication connection, or a 3G communication connection, etc.

[0059] It is understandable that the backend 14 may be a computer device such as a server or a computer.

[0060] The working principle of the inspection system 10 is as follows: before the inspection, the user selects the required inspection route as the target inspection route in the background 14, and then configures the base station and the machine nest bound to the target inspection route in the background 14. The background 14 responds to the user's configuration operation and generates inspection configuration information. Among them, the background 14 sends an opening command to the bound base station based on the 4G communication method according to the inspection configuration information, and the bound base station responds to the opening command and enters the opening state. In addition, the background 14 sends the machine nest information to the bound starting point machine nest based on the Ethernet connection according to the inspection configuration information, and the starting point machine nest sends the machine nest information to the enabled base station based on the image transmission connection. The enabled base station forwards the machine nest information to the drone based on the image transmission connection, and the drone determines the subsequent machine nest that needs to land based on the machine nest information.

[0061] Then, the background 14 sends an inspection start command to the drone through the starting nest and the base station. The drone takes off from the starting nest according to the inspection start command and starts to inspect the inspection route. During the inspection process, the drone and the nest can communicate through the base station to transmit data. For example, the background sends flight motion information to the nest, and the nest sends flight motion information to the drone through the base station. The drone flies according to the flight motion information, where the flight motion information includes flight speed, flight acceleration, flight altitude, climb rate, attitude, heading angle, etc.

[0062] During the inspection process, when the UAV is running low on power, the UAV can land on a configured nest. If the configured nest cannot be used by the UAV, the UAV can land on a designated alternate landing point. When the UAV lands on a configured nest, the configured nest can provide the UAV with battery replacement and data transmission services. The battery replacement service is a service in which the nest charges the UAV, and the data transmission service is a service in which the UAV transmits the collected video images to the nest, which is then uploaded to the background by the nest. The embodiment of the present application can add multiple nests and control the UAV to take off and land in a different place, which can improve the UAV's endurance and reliably complete the inspection task.

[0063] As another aspect of the embodiment of the present application, the embodiment of the present application provides a method for generating inspection configuration information. Figure 2 , the method for generating inspection configuration information includes the following steps:

[0064] S21: Obtain line equipment information.

[0065] In this step, the line equipment information includes line information, machine nest information and base station information. The line information includes the location information of the target inspection line, the machine nest information includes the location information of multiple machine nests, and the base station information includes the location information of multiple base stations. The machine nest is used to provide services for the drone. Among them, the target inspection line is the inspection line that the drone needs to inspect.

[0066] The user can select the target inspection route on the application interface. The application interface is configured with a route library, which includes multiple inspection routes. Figure 3 The application interface 31 is provided with a route library button 32. When the user operates the route library button 32, the application interface 31 presents multiple inspection routes, such as a channel inspection route, a waypoint route, a rectangular route or a polygonal route. The user can select a channel inspection route as a target inspection route on the application interface 31. After the user selects the target inspection route on the application interface 31, the embodiment of the present application responds to the user's selection operation and calls the locally pre-stored machine nest information and base station information, wherein the location information of the machine nest and the location information of the base station can be configured in advance by the user, and the location information of the machine nest and the location information of the base station can be represented by longitude and latitude.

[0067] S22: According to the location information of the base station and the location information of the target inspection line, a base station satisfying a preset base station screening condition is determined as a target base station among a plurality of base stations.

[0068] In this step, in some embodiments, the preset base station screening condition is: ensuring that two adjacent base stations can at least communicate with each other. In some embodiments, the preset base station screening condition is: ensuring that two adjacent base stations can communicate with each other and that the distance between the two adjacent base stations meets the maximum distance requirement.

[0069] S23: Determine the maximum reachable range of the drone and the maximum communication range of the target base station.

[0070] In this step, the maximum reachable range is the maximum distance that the drone can fly. It is understandable that the drone's battery aging, discharge rate, and flight environment will affect the drone's maximum reachable range. The maximum reachable ranges of different types of drones may be the same or different, and the maximum reachable ranges of different drones of the same type may be the same or different.

[0071] In some embodiments, determining the maximum reachable range of the drone includes the following steps: obtaining the maximum battery capacity and operating current of the drone, calculating the flight time based on the maximum battery capacity and operating current, and calculating the maximum reachable range of the drone based on the flight time and a preset flight speed.

[0072] In some embodiments, calculating the flight time according to the maximum battery capacity and the operating current includes the following steps: dividing the maximum battery capacity by the operating current to obtain the flight time.

[0073] In some embodiments, calculating the flight time based on the maximum battery capacity and the operating current includes the following steps: subtracting a preset margin value from the maximum battery capacity to obtain a safe battery capacity, and dividing the safe battery capacity by the operating current to obtain the flight time.

[0074] In some embodiments, before calculating the flight time, the method further includes the following steps: obtaining flight environment information, and determining an environmental constraint coefficient according to the flight environment information. Then: calculating the flight time according to the maximum battery capacity and the operating current includes the following steps: calculating the target current according to the environmental constraint coefficient and the operating current, and calculating the flight time according to the maximum battery capacity and the target current.

[0075] Determining the environmental constraint coefficient according to the flight environment information includes: determining the target severity level of the flight environment of the UAV according to the flight environment information, and determining the environmental constraint coefficient according to the target severity level. The severity level of the flight environment can be comprehensively evaluated by factors such as wind level, rainfall, humidity, temperature, and visibility.

[0076] The maximum communication range is the range in which communication with the base station can be carried out. Usually, the communication range of the base station is fixed. For example, the communication range of the base station is between 10 kilometers and 15 kilometers. In the embodiment of the present application, the median of the communication range of the base station is taken as the maximum communication range, or the minimum or maximum value of the communication range of the base station is taken as the maximum communication range.

[0077] S24: According to the maximum reachable range and the maximum communication range, a nest satisfying a preset nest screening condition is determined as a target nest among multiple nests.

[0078] In this step, in some embodiments, the preset nest screening condition is: it can ensure that the drone can land on the nest. In some embodiments, the preset nest screening condition is: it can not only ensure that the drone can land on the nest, but also ensure that the distance from the drone to the nest meets the maximum distance requirement.

[0079] S25: Generate inspection configuration information according to the target base station and the target machine nest, and the inspection configuration information is used to instruct to turn on the target base station and instruct the UAV to land on the target machine nest.

[0080] In this step, the background packages the equipment information of the target base station and the equipment information of the target machine nest into the inspection configuration information. According to the inspection configuration information, the background remotely controls the target base station to enter the open state. Therefore, the background can flexibly configure the target base station that meets the preset base station screening conditions, avoiding the artificial configuration of two base stations that are close to each other, resulting in relatively redundant base stations, thereby reducing the energy consumption of the base station and increasing the working time of the base station. At the same time, it can also avoid the phenomenon of the communication link being broken due to the artificial configuration of two base stations that are far away. In this way, it ensures that the base station can reliably cover the inspection range of the drone, which is conducive to improving the intelligent degree of the base station opening.

[0081] The background can notify the drone of the target nest available for landing according to the inspection configuration information. From the above description, it can be seen that the embodiment of the present application automatically configures the target nest in combination with the maximum reachable range of the drone, so that it can adapt to the working conditions of different drones to determine a suitable nest as the target nest, which is conducive to ensuring that the drone can obtain various services provided by the nest so as to complete the inspection work reliably and safely.

[0082] In order to elaborate on the method for generating inspection configuration information provided by the embodiment of the present application, the embodiment of the present application combines Figure 4 This is elaborated in detail as follows: Figure 4 , the background provides three inspection lines, namely, inspection line 41, inspection line 42, inspection line 43 and inspection line 44, and the user deploys each base station and each machine nest near each inspection line. When the user selects inspection line 42 as the target inspection line on the application interface, the background adopts the methods provided by the above embodiments to set base stations A1, base station A2, base station A3, base station A4, base station A5, base station A6, and base station A7 as target base stations, and the remaining base stations are not used as target base stations. Then, the background adopts the methods provided by the above embodiments to set machine nests B1, machine nest B2, machine nest B3, machine nest B4, machine nest B5, and machine nest B6 as target machine nests. Finally, the background generates inspection configuration information according to the above target base stations and target machine nests, wherein the background turns on each target base station according to the inspection configuration information, and then notifies the drone to land on each target machine nest during the inspection process.

[0083] In some embodiments, according to the location information of the base station and the location information of the target inspection route, determining a base station that meets the preset base station screening condition among multiple base stations as a target base station includes the following steps:

[0084] S221: According to the location information of the base station, the base station that falls within the maximum communication range of the i-th target base station is determined as the candidate base station. The base station that the UAV connects to when it starts patrolling along the target patrol route is the first target base station, and i is a positive integer.

[0085] S222: According to the location information of the candidate base stations and the location information of the target inspection line, determine a base station that meets a preset base station screening condition in at least one candidate base station as the (i+1)th target base station.

[0086] In S221, determining a base station within the maximum communication range of the i-th target base station as a candidate base station based on the location information of the base station includes the following steps: determining the i-th target base station, and determining a base station within the maximum communication range of the i-th target base station as a candidate base station based on the location information of the base station.

[0087] Determining the i-th target base station includes the following steps: when i=1, obtaining the location information of the target inspection line, determining the first target base station according to the location information of the target inspection line, when i is greater than 1, determining the i-1th target base station, determining the base station falling within the maximum communication range of the i-1th target base station as the candidate base station, and determining the base station that meets the preset base station screening conditions in at least one candidate base station as the i-th target base station according to the location information of the candidate base stations and the location information of the target inspection line.

[0088] Determining the first target base station according to the location information of the target inspection line includes the following steps: obtaining the inspection starting point of the target inspection line according to the location information of the target inspection line, and determining the base station closest to the inspection starting point as the first target base station.

[0089] The pseudo code process corresponding to step S221 is as follows:

[0090] S51: Put the location information of all base stations into a closed set W1, where W1 = {H1, H2, H3, ..., Hj, ..., Hn}, n is the total number of base stations, and Hj represents the jth base station.

[0091] S52: Determine the i-th target base station, and remove the location information of the i-th target base station from the closed set.

[0092] S53: Assign j=1.

[0093] S54: Determine whether j is greater than n, if not, execute step S55, if so, execute step S59.

[0094] S55: Calculate the distance d1 between the i-th target base station and the j-th base station.

[0095] S56: Determine whether the distance d1 is less than or equal to the maximum communication range R1, if so, execute step S57, if not, execute step S58.

[0096] S57: Take the jth base station as a candidate base station, add the location information of the jth base station to the open set Q1, remove the location information of the jth target base station from the closed set, assign j=j+1, and return to step S54.

[0097] S58: Assign j=j+1, and return to step S54.

[0098] S59: End the operation.

[0099] The candidate base stations in the open set Q1 are all target base stations. The embodiment of the present application adopts the above operation to find out all the candidate base stations corresponding to the i-th target base station.

[0100] In S222, based on the location information of the candidate base stations and the location information of the target inspection line, determining a base station that meets the preset base station screening conditions in at least one candidate base station as the target base station includes the following steps: calculating the base station score of each candidate base station based on the location information of the candidate base stations and the location information of the target inspection line, and determining the base station whose base station score meets the preset base station screening conditions as the i+1th target base station.

[0101] The base station score is used to indicate the degree to which the candidate base station is suitable as a target base station. In some embodiments, the higher the base station score, the more suitable the candidate base station is as a target base station, and the lower the base station score, the less suitable the candidate base station is as a target base station. In some embodiments, the lower the base station score, the more suitable the candidate base station is as a target base station, and the higher the base station score, the less suitable the candidate base station is as a target base station.

[0102] In some embodiments, calculating the base station score of each candidate base station based on the location information of the candidate base station and the location information of the target patrol route includes the following steps: determining the location point on the target patrol route that is closest to the candidate base station as the first location point based on the location information of the candidate base station and the location information of the target patrol route, obtaining a first distance from the candidate base station to the first location point, and the first distance can be used as the base station score of the corresponding candidate base station.

[0103] In some embodiments, calculating the base station score of each candidate base station based on the location information of the candidate base station and the location information of the target patrol route includes the following steps: determining the location point on the target patrol route that is closest to the candidate base station as the first location point based on the location information of the candidate base station and the location information of the target patrol route, determining the base station distance from the candidate base station to the i-th target base station and the first distance from the candidate base station to the first location point, and fusing the base station distance and the first distance according to a preset weighted algorithm to obtain a base station score.

[0104] The location information of the target inspection route includes the location information of multiple location points. According to the location information of the candidate base station and the location information of the target inspection route, determining the location point on the target inspection route that is closest to the candidate base station as the first location point includes the following steps: according to the location information of the candidate base station and the location information of each location point, respectively calculating the straight-line distance from the candidate base station to each location point, determining the two location points with the smallest straight-line distances as reference location points, and obtaining the middle location point between the two reference location points, wherein the middle location point is the first location point.

[0105] Determining the base station distance from the candidate base station to the i-th target base station includes the following steps: obtaining location information of the candidate base station and location information of the i-th target base station, and determining the base station distance based on the location information of the candidate base station and location information of the i-th target base station.

[0106] Determining a first distance from a candidate base station to a first location point includes the following steps: acquiring location information of the candidate base station and location information of the first location point, and determining the first distance according to the location information of the candidate base station and location information of the first location point.

[0107] The base station distance and the first distance are integrated according to a preset weighted algorithm to obtain a base station score, which includes the following steps: normalizing the base station distance and the first distance respectively to obtain a first normalized value and a second normalized value, multiplying the first normalized value by a preset first weight coefficient to obtain a first weighted value, multiplying the second normalized value by a preset second weight coefficient to obtain a second weighted value, subtracting the second weighted value from the first weighted value to obtain a base station score, the first weight coefficient is greater than the second weight coefficient, and the sum of the first weight coefficient and the second weight coefficient is a natural number 1, for example, the first weight coefficient is 0.8, and the second weight coefficient is 0.2.

[0108] Normalizing the base station distances to obtain the first normalized value includes: finding a maximum base station distance among the base station distances, dividing the base station distance of each candidate base station by the maximum base station distance, and obtaining the first normalized value of each candidate base station.

[0109] Normalizing the first distance to obtain a second normalized value includes the following steps: finding a maximum first distance among the first distances, dividing the first distance of each candidate base station by the maximum first distance, and obtaining a second normalized value of each candidate base station.

[0110] Determining that a base station whose base station score satisfies a preset base station screening condition is the i+1th target base station includes: determining a maximum base station score among the base station scores of at least one candidate base station, and determining that the base station with the maximum base station score satisfies the preset base station screening condition, wherein the base station with the maximum base station score is the i+1th target base station.

[0111] Drones usually conduct inspections close to the target inspection route. Therefore, when the first distance is smaller, it means that the candidate base station is closer to the target inspection route, and the drone is easier to communicate with the candidate base station, which is more conducive to improving the flight safety and accuracy of the drone. Since the candidate base station falls within the maximum communication range of the i-th target base station, the candidate base station is able to communicate with the i-th target base station. When the base station distance between the candidate base station and the i-th target base station is farther, the overlap range between the maximum communication range of the candidate base station and the maximum communication range of the i-th target base station is smaller, which is conducive to reducing the opening of relatively redundant base stations. Therefore, this embodiment obtains a base station score by fusing the base station distance with the first distance. The base station score can comprehensively evaluate the degree to which the candidate base station is suitable as the i+1th target base station, which is conducive to screening out a better candidate base station as the i+1th target base station.

[0112] In some embodiments, according to the maximum reachable range and the maximum communication range, determining a nest that meets a preset nest screening condition as a target nest among multiple nests includes the following steps:

[0113] S241: According to the location information of the machine nest, determine the machine nest that falls within the maximum reachable range of the kth target machine nest as a candidate machine nest, and the starting machine nest when the UAV starts to inspect along the target inspection route is the first target machine nest, and k is a positive integer.

[0114] S242: Select a candidate nest within the maximum communication range of the target base station from at least one candidate nest as a pending nest.

[0115] S243: Calculating the nest score of each pending nest according to the location information of the pending nest and the location information of the target inspection route;

[0116] S244: Determine the pending nest whose nest score meets the preset nest screening condition as the k+1th target nest.

[0117] In S241, according to the location information of the machine nest, determining the machine nest that falls within the maximum reachable range of the kth target machine nest as a candidate machine nest includes the following steps: determining the kth target machine nest, and determining the machine nest that falls within the maximum reachable range of the kth target machine nest as a candidate machine nest according to the location information of the machine nest.

[0118] Determining the kth target nest includes the following steps: when k=1, obtaining the location information of the target inspection line, determining the first target nest according to the location information of the target inspection line, the location information of the nest and the first target base station, when k is greater than 1, determining the k-1th target base station, determining the nest within the maximum reachable range of the k-1th target nest as the candidate nest, screening out candidate nests within the maximum communication range of the target base station from at least one candidate nest as the pending nest, calculating the nest score of each pending nest according to the location information of the pending nest and the location information of the target inspection line, and determining the pending nest whose nest score meets the preset nest screening condition as the kth target nest.

[0119] Determining the first target nest based on the location information of the target inspection route, the location information of the nest and the first target base station includes the following steps: according to the location information of the nest, determining the nest within the maximum communication range of the first target base station as the reference nest, and determining the reference nest closest to the starting point of the target inspection route in at least one reference nest as the first target nest.

[0120] The pseudo code process corresponding to step S241 is as follows:

[0121] S61: Put the location information of all machine nests into a closed set W2, where W2 = {L1, L2, L3, ..., Lj, ..., Lm}, m is the total number of machine nests, and Lj represents the jth machine nest.

[0122] S62: Determine the kth target machine nest, and remove the location information of the kth target machine nest from the closed set.

[0123] S63: Assign j=1.

[0124] S64: Determine whether j is greater than m, if not, execute step S65, if so, execute step S69.

[0125] S65: Calculate the distance d2 between the kth target machine nest and the jth machine nest.

[0126] S66: Determine whether the distance d2 is less than or equal to the maximum reachable range R2, if so, execute step S67, if not, execute step S68.

[0127] S67: Take the jth nest as a candidate nest, add the location information of the jth nest to the open set Q2, remove the location information of the jth target nest from the closed set, assign j=j+1, and return to step S64.

[0128] S68: Assign j=j+1, and return to step S64.

[0129] S69: End the operation.

[0130] The candidate nests in the open set Q2 are all target nests. The embodiment of the present application adopts the above operation to find out all the candidate nests corresponding to the kth target nest.

[0131] In S242, when the candidate machine nest falls within the maximum communication range of any target base station, it means that the candidate machine nest can at least communicate with the drone through the target base station. If the candidate machine nest does not fall within the maximum communication range of any target base station, it means that none of the determined target base stations can communicate with the candidate machine nest, which further indicates that the drone cannot communicate with the candidate machine nest through the determined target base stations. Therefore, the embodiment of the present application needs to select another candidate machine nest for judgment.

[0132] Screening out a candidate nest that falls within the maximum communication range of the target base station from at least one candidate nest as a pending nest includes the following steps: obtaining location information of the candidate nest, determining whether the location information of the candidate nest is within the maximum communication range of the target base station, and if so, determining that the candidate nest is a pending nest; if not, returning to the step of obtaining the location information of the candidate nest.

[0133] In S243, the nest score of each pending nest is calculated based on the location information of the pending nest and the location information of the target inspection route, including the following steps: according to the location information of the pending base station and the location information of the target inspection route, the position point closest to the pending nest is determined as the second position point on the target inspection route, the nest distance from the pending nest to the kth target nest is determined, the second distance from the pending nest to the second position point is determined, and the nest distance and the second distance are integrated according to a preset weighted algorithm to obtain the nest score.

[0134] The location information of the target inspection route includes the location information of multiple location points. According to the location information of the to-be-determined base station and the location information of the target inspection route, determining the location point on the target inspection route that is closest to the to-be-determined machine nest as the second location point includes the following steps: according to the location information of the to-be-determined base station and the location information of each location point, respectively calculating the straight-line distance from the to-be-determined base station to each location point, determining the two location points with the smallest straight-line distances as the target location points, and obtaining the middle location point between the two target location points, wherein the middle location point is the second location point.

[0135] Determining the machine nest distance from the pending machine nest to the kth target machine nest includes the following steps: obtaining the position information of the pending machine nest and the position information of the kth target machine nest, and determining the machine nest distance according to the position information of the pending machine nest and the position information of the kth target machine nest.

[0136] Determining the second distance from the pending machine nest to the second position point includes the following steps: obtaining the position information of the pending machine nest and the position information of the second position point, and determining the second distance according to the position information of the pending machine nest and the position information of the second position point.

[0137] The machine nest score is obtained by fusing the machine nest distance and the second distance according to a preset weighted algorithm, including the following steps: normalizing the machine nest distance and the second distance respectively to obtain a third normalized value and a fourth normalized value, multiplying the third normalized value by a preset third weight coefficient to obtain a third weighted value, multiplying the fourth normalized value by a preset fourth weight coefficient to obtain a fourth weighted value, subtracting the fourth weighted value from the third weighted value to obtain the machine nest score, the third weight coefficient is greater than the fourth weight coefficient, and the sum of the third weight coefficient and the fourth weight coefficient is a natural number 1, for example, the third weight coefficient is 0.8, and the fourth weight coefficient is 0.2.

[0138] Normalizing the machine nest distance to obtain the third normalized value includes: finding the maximum machine nest distance among the machine nest distances, dividing the machine nest distance of each pending machine nest by the maximum machine nest distance, and obtaining the third normalized value of each pending machine nest.

[0139] Normalizing the second distance to obtain a fourth normalized value includes the following steps: finding a maximum second distance among the second distances, dividing the second distance of each pending machine nest by the maximum second distance, and obtaining a fourth normalized value of each pending machine nest.

[0140] Determining that a pending nest whose nest score satisfies a preset nest screening condition is the k+1th target nest includes: determining a maximum nest score among the nest scores of at least one pending nest, and determining that the pending nest with the maximum nest score satisfies the preset nest screening condition, wherein the pending nest with the maximum nest score is the k+1th target nest.

[0141] The embodiment of the present application not only requires the target machine nest to communicate with the target base station to ensure that the UAV can communicate and interact with the target machine nest through the target base station when inspecting the target inspection route, thereby ensuring the flight safety and accuracy and reliability of the UAV, but also requires that the machine nest distance between the i+1th target machine nest and the previous i-th target machine nest must meet the maximum distance requirement. In addition, it is also required that after the UAV lands on the i+1th target machine nest to change power or exchange data, it can also ensure that the UAV can enter the area of ​​the target inspection route as soon as possible for inspection. Therefore, the embodiment of the present application can integrate the machine nest distance and the second distance to comprehensively evaluate each pending machine nest, so as to find a better pending machine nest as the i+1th target machine nest.

[0142] In order to elaborate on the method for generating inspection configuration information provided by the embodiment of the present application, the embodiment of the present application combines Figure 5 This is elaborated in detail as follows:

[0143] See also Figure 5 , the user selects the inspection route 42 as the target inspection route and the drone 50 on the background application interface. Since the distance from the base station A1 to the starting point of the inspection route 42 is less than the distance from the base station C1 to the starting point of the inspection route 42, the background selects the base station A1 as the first target base station.

[0144] The background determines that the base stations within the maximum communication range T1 of base station A1 are candidate base stations, among which there is only one base station A2 within the maximum communication range T1, so base station A2 is the candidate base station. After the score calculation, base station A2 has the highest base station score, so base station A2 is the second target base station.

[0145] Next, the background determines that the base stations falling within the maximum communication range T2 of base station A2 are candidate base stations, among which base stations C2 and base station A3 are both candidate base stations. After score calculation, the base station score of base station A3 is higher than that of base station C2, so base station A3 is the third target base station.

[0146] Next, the background determines that the base stations within the maximum communication range T3 of base station A3 are candidate base stations, among which there is only one base station A4 within the maximum communication range T3, so base station A4 is the candidate base station. After the score calculation, base station A4 has the highest base station score, so base station A4 is the fourth target base station.

[0147] Next, the background determines that the base stations falling within the maximum communication range T4 of base station A4 are candidate base stations, among which base stations C3 and base station A5 are both candidate base stations. After score calculation, the base station score of base station A5 is higher than that of base station C3, so base station A5 is the fifth target base station.

[0148] Next, the background determines that the base stations falling within the maximum communication range T5 of base station A5 are candidate base stations, among which base stations C3, base station C4 and base station A6 are all candidate base stations. After score calculation, base station A6 has the highest base station score, so base station A6 is the sixth target base station.

[0149] Next, the background determines that the base stations falling within the maximum communication range T6 of base station A6 are candidate base stations, among which there is only one base station A7 falling within the maximum communication range T6, so base station A7 is a candidate base station. After the score calculation, the base station score of base station A7 is the highest, so base station A7 is the seventh target base station. Since the maximum communication range of base station A7 has covered the end point of the inspection line 42, the background ends the operation of searching for the target base station.

[0150] After finding all target base stations associated with the inspection line 42, the background continues to find all target machine nests, as follows:

[0151] Nest B1, nest B2 and nest D1 are all within the maximum communication range of base station A1, but nest B1 is closest to the starting point of inspection line 42, so nest B1 is the first target nest.

[0152] Next, the background determines that the nests that fall within the maximum reachable range G1 of nest B1 are candidate nests, and the candidate nests are nests B2 and nest D1. Since nests B2 and nests D1 are both within the maximum communication range of the corresponding target base station, nests B2 and nests D1 are both pending nests. After the score calculation operation, the nest score of nest B2 is greater than the nest score of nest D1, so nest B2 is the second target nest.

[0153] Next, the background determines that the nests that fall within the maximum reachable range G2 of nest B2 are candidate nests. The candidate nests are nest B3, nest D2, and nest D3. Since nest B3, nest D2, and nest D3 are all within the maximum communication range of the corresponding target base station, nest B3, nest D2, and nest D3 are all pending nests. After the score calculation operation, nest B3 has the highest nest score, so nest B3 is the third target nest.

[0154] Next, the background determines that the nests that fall within the maximum reachable range G3 of nest B3 are candidate nests, and the candidate nests are nest B4, nest D2, nest D4, nest D5 and nest D6. Since nest D5 is not within the maximum communication range of any target base station, but nest B4, nest D2, nest D4 and nest D6 are all within the maximum communication range of the corresponding target nests, nest B4, nest D2, nest D4 and nest D6 are all pending nests. After the score calculation operation, nest B4 has the highest nest score, so nest B4 is the fourth target nest.

[0155] Next, the background determines that the nests that fall within the maximum reachable range G4 of nest B4 are candidate nests. The candidate nests are nest B5, nest D7, nest D4, and nest D5. Nest B5, nest D7, nest D4, and nest D5 are all within the maximum communication range of the corresponding target nests. Therefore, nest B5, nest D7, nest D4, and nest D5 are all pending nests. After the score calculation operation, nest B5 has the highest nest score, so nest B5 is the fifth target nest.

[0156] Next, the background determines that the nests that fall within the maximum reachable range G5 of nest B5 are candidate nests. The candidate nests are nests B6, nest D8, and nest D7, which are all within the maximum communication range of the corresponding target nests, but nest D8 is not within the maximum communication range of any target base station. Therefore, nests B6 and nest D7 are both pending nests. After the score calculation operation, nest B6 has the highest nest score, so nest B6 is the sixth target nest. Since nest B6 is the terminal nest of inspection line 42, the background ends the operation of searching for the target nest.

[0157] In general, the embodiment of the present application adopts the above-mentioned method, and can use base stations A1, A2, A3, A4, A5, A6, and A7 as target base stations, and use nests B1, B2, B3, B4, B5, and B6 as target nests. The background can open the above-mentioned target base stations so that the drone can communicate, and the drone can land on the above-mentioned nests to replace power and transmit data.

[0158] It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain order between the above-mentioned steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the above-mentioned steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0159] As another aspect of the embodiment of the present application, the embodiment of the present application provides a device for generating patrol configuration information. The device for generating patrol configuration information can be a software module, and the software module includes a number of instructions, which are stored in a memory, and the processor can access the memory and call the instructions for execution to complete the generation method of patrol configuration information described in each of the above embodiments.

[0160] In some implementations, the generation device of the inspection configuration information may also be constructed by hardware devices, for example, the generation device of the inspection configuration information may be constructed by one or more chips, and the chips may work in coordination with each other to complete the generation method of the inspection configuration information described in the above implementations. For another example, the generation device of the inspection configuration information may also be constructed by various logic devices, such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0161] See also Figure 6 The inspection configuration information generation device 600 includes: an information acquisition module 601, a base station determination module 602, a parameter determination module 603, a machine nest determination module 604 and an information generation module 605.

[0162] The information acquisition module 601 is used to acquire line equipment information, which includes line information, machine nest information and base station information. The line information includes the location information of the target inspection line, the machine nest information includes the location information of multiple machine nests, and the base station information includes the location information of multiple base stations. The machine nest is used to provide services for the drone. The base station determination module 602 is used to determine the base station that meets the preset base station screening conditions as the target base station among multiple base stations based on the location information of the base station and the location information of the target inspection line. The parameter determination module 603 is used to determine the maximum reachable range of the drone and the maximum communication range of the target base station. The machine nest determination module 604 is used to determine the machine nest that meets the preset machine nest screening conditions as the target machine nest among multiple machine nests based on the maximum reachable range and the maximum communication range. The information generation module 605 is used to generate inspection configuration information based on the target base station and the target machine nest, and the inspection configuration information is used to instruct the target base station to be turned on and the drone to land on the target machine nest.

[0163] The embodiment of the present application can flexibly configure a target base station that meets the preset base station screening conditions, which is conducive to improving the intelligent level of base station startup, so as to reduce the energy consumption of the base station and ensure that the base station can reliably cover the inspection range of the drone. In addition, the embodiment of the present application automatically configures the target nest in combination with the maximum reachable range of the drone, so that it can adapt to the working conditions of different drones to determine the appropriate nest as the target nest, which is conducive to ensuring that the drone can obtain various services provided by the nest, so as to reliably and safely complete the inspection work.

[0164] In some embodiments, the base station determination module 602 is specifically used to: determine, based on the location information of the base stations, a base station within the maximum communication range of the i-th target base station as a candidate base station, the base station to which the drone connects when it starts patrolling along the target patrol route is the first target base station, i is a positive integer, and based on the location information of the candidate base stations and the location information of the target patrol route, determine, among at least one candidate base station, a base station that meets the preset base station screening conditions as the i+1-th target base station.

[0165] In some embodiments, the base station determination module 602 is further specifically used to: calculate the base station score of each candidate base station according to the location information of the candidate base stations and the location information of the target inspection route, and determine the base station whose base station score meets the preset base station screening condition as the target base station.

[0166] In some embodiments, the base station determination module 602 is further specifically used to: determine a maximum base station score among the base station scores of at least one candidate base station, and determine that the base station with the maximum base station score meets a preset base station screening condition, wherein the base station with the maximum base station score is the target base station.

[0167] In some embodiments, the base station determination module 602 is also specifically used to: determine the location point on the target inspection route that is closest to the candidate base station as the first location point based on the location information of the candidate base station and the location information of the target inspection route, determine the base station distance from the candidate base station to the i-th target base station, determine the first distance from the candidate base station to the first location point, and fuse the base station distance and the first distance according to a preset weighted algorithm to obtain a base station score.

[0168] In some embodiments, the machine nest determination module 604 is specifically used to: determine, based on the location information of the machine nest, a machine nest that falls within the maximum reachable range of the kth target machine nest as a candidate machine nest, the starting machine nest when the drone starts to inspect along the target inspection route is the first target machine nest, k is a positive integer, and select the candidate machine nests that fall within the maximum communication range of the target base station from at least one candidate machine nest as the pending machine nests, calculate the machine nest score of each pending machine nest based on the location information of the pending machine nest and the location information of the target inspection route, and determine the pending machine nest whose machine nest score meets the preset machine nest screening condition as the k+1th target machine nest.

[0169] In some embodiments, the machine nest determination module 604 is further specifically used to: determine the maximum machine nest score among the machine nest scores of at least one pending machine nest, and determine that the pending machine nest with the maximum machine nest score meets the preset machine nest screening conditions, wherein the pending machine nest with the maximum machine nest score is the k+1th target machine nest.

[0170] In some embodiments, the machine nest determination module 604 is also specifically used to: determine the position point on the target inspection route that is closest to the pending machine nest as the second position point based on the position information of the pending base station and the position information of the target inspection route, determine the machine nest distance from the pending machine nest to the kth target machine nest, determine the second distance from the pending machine nest to the second position point, and fuse the machine nest distance and the second distance according to a preset weighted algorithm to obtain a machine nest score.

[0171] It should be noted that the above-mentioned inspection configuration information generation device can execute the inspection configuration information generation method provided in the implementation mode of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in the implementation mode of the inspection configuration information generation device, please refer to the inspection configuration information generation method provided in the implementation mode of this application.

[0172] See also Figure 7 , Figure 7 The schematic diagram of the structure of a computer device provided in an embodiment of the present application is as follows: The computer device 700 includes one or more processors 701 and a memory 702. The memory 702 is connected to the one or more processors 701, for example, connected to the processor 701 via a bus.

[0173] The processor 701 is configured to support the computer device to perform the corresponding functions in the method in the above method embodiment. The processor can be a central processing unit (CPU), a network processor (NP), a hardware chip or any combination thereof. The above hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0174] The memory 702 is used to store program codes, etc. The memory 702 may include a volatile memory (VM), such as a random access memory (RAM); the memory may also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the memory may also include a combination of the above-mentioned types of memory.

[0175] The memory 702 can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the method for generating patrol configuration information in the embodiment of the present application. The processor executes various functional applications and data processing of the method for generating patrol configuration information and the device for generating patrol configuration information by running the non-volatile software programs, instructions and modules stored in the memory, that is, realizes the functions of each module or unit of the method for generating patrol configuration information and the device for generating patrol configuration information provided in the above method embodiment.

[0176] The memory 702 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function. The data storage area may store data created according to the use of the generation device of the inspection configuration information, etc. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the generation device of the inspection configuration information via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0177] The one or more modules are stored in the memory, and when executed by the one or more processors, the method for generating the inspection configuration information in any of the above method embodiments is executed, for example, the method steps described in the above method embodiments are executed to realize the functions of the modules described in the above device embodiments.

[0178] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the method described in the above embodiment.

[0179] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0180] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A method for generating inspection configuration information, characterized in that: include: Acquire line equipment information, the line equipment information includes line information, machine nest information and base station information, the line information includes location information of the target inspection line, the machine nest information includes location information of multiple machine nests, the base station information includes location information of multiple base stations, and the machine nest is used to provide services for the UAV; According to the location information of the base station and the location information of the target inspection route, a base station satisfying a preset base station screening condition is determined as a target base station among the multiple base stations; Determine the maximum reachable range of the drone and the maximum communication range of the target base station; According to the maximum reachable range and the maximum communication range, determining a nest that meets a preset nest screening condition among the plurality of nests as a target nest; Inspection configuration information is generated according to the target base station and the target machine nest, and the inspection configuration information is used to instruct to turn on the target base station and instruct the drone to land on the target machine nest.

2. The method according to claim 1, characterized in that The step of determining, according to the location information of the base station and the location information of the target inspection route, a base station satisfying a preset base station screening condition among the multiple base stations as a target base station comprises: According to the location information of the base station, a base station within the maximum communication range of the i-th target base station is determined as a candidate base station, and the base station connected when the UAV starts patrolling along the target patrol route is the first target base station, where i is a positive integer; According to the location information of the candidate base stations and the location information of the target inspection route, a base station satisfying a preset base station screening condition is determined as the (i+1)th target base station in at least one of the candidate base stations.

3. The method according to claim 2, characterized in that The step of determining, according to the location information of the candidate base stations and the location information of the target inspection route, a base station satisfying a preset base station screening condition in at least one of the candidate base stations as the (i+1)th target base station comprises: Calculating a base station score of each of the candidate base stations according to the location information of the candidate base stations and the location information of the target inspection route; A base station whose base station score meets the preset base station screening condition is determined as the i+1th target base station.

4. The method according to claim 3, characterized in that The step of determining a base station whose base station score satisfies a preset base station screening condition as the i+1th target base station comprises: determining a maximum base station score among the base station scores of at least one of the candidate base stations; It is determined that a base station with a maximum base station score meets a preset base station screening condition, wherein the base station with the maximum base station score is the (i+1)th target base station.

5. The method according to claim 3, characterized in that: Calculating the base station score of each candidate base station according to the location information of the candidate base station and the location information of the target inspection route includes: According to the location information of the candidate base station and the location information of the target inspection route, determining a location point on the target inspection route that is closest to the candidate base station as a first location point; Determine a base station distance from the candidate base station to the i-th target base station; Determine a first distance from the candidate base station to the first location point; The base station distance and the first distance are fused according to a preset weighted algorithm to obtain a base station score.

6. The method according to any one of claims 1 to 5, characterized in that: The step of determining, according to the maximum reachable range and the maximum communication range, a nest satisfying a preset nest screening condition as a target nest from among the plurality of nests comprises: According to the position information of the nest, the nest that falls within the maximum reachable range of the kth target nest is determined as a candidate nest, the starting nest when the UAV starts to inspect along the target inspection route is the first target nest, and k is a positive integer; Selecting a candidate nest within the maximum communication range of the target base station from at least one of the candidate nests as a pending nest; Calculate the nest score of each of the pending nests according to the location information of the pending nests and the location information of the target inspection route; The pending nest whose nest score satisfies the preset nest screening condition is determined as the k+1th target nest.

7. The method according to claim 6, characterized in that The step of determining that the pending nest whose nest score satisfies the preset nest screening condition is the k+1th target nest comprises: Determining a maximum nest score among the nest scores of at least one of the pending nests; It is determined that the pending nest with the maximum nest score meets the preset nest screening condition, wherein the pending nest with the maximum nest score is the k+1th target nest.

8. The method according to claim 6, characterized in that Calculating the nest score of each of the pending nests according to the location information of the pending nest and the location information of the target inspection route includes: According to the location information of the pending base station and the location information of the target inspection route, determine the location point on the target inspection route that is closest to the pending machine nest as the second location point; Determine the distance between the pending machine nest and the kth target machine nest; Determine a second distance from the pending machine nest to the second position point; The machine nest distance and the second distance are fused according to a preset weighted algorithm to obtain a machine nest score.

9. A computer device, characterized in that: It includes a memory and a processor, the memory is connected to the processor, the processor is used to execute one or more computer programs stored in the memory, and when the processor executes the one or more computer programs, the computer device implements the method for generating inspection configuration information as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the method for generating inspection configuration information according to any one of claims 1 to 8.

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