A water environment management method and device based on drone

Abstract

The present invention discloses a water environment management method and device based on drones. The present invention uses drones to inspect the water environment, and then automatically identifies water environment problem points based on videos taken by the drones, and generates corresponding problem point description information. Finally, operation and maintenance tasks can be generated based on the problem point description information, so that personnel can be notified in time to perform water environment maintenance. Thus, the present invention can realize real-time, remote and large-scale inspections of the water environment, which not only reduces the time cost and material cost of on-site inspections by personnel, but also reduces the safety risk of inspections by personnel. At the same time, the generated operation and maintenance tasks contain the coordinates of the problem points and the maintenance standard process, so that personnel can quickly locate the problem points and perform professional maintenance on the problems, thereby improving the efficiency of maintenance while ensuring the quality of maintenance.

Description

Technical Field

[0001] The present invention belongs to the technical field of water environment management, and in particular relates to a water environment management method and device based on an unmanned aerial vehicle (UAV). Background Art

[0002] Against the backdrop of rapid human activity, water environment-related activities are also rapidly expanding, such as common illegal sand mining, environmental cleaning, water quality issues, water shoreline management, and dam safety management activities. The rapid expansion of water environment-related activities poses a great challenge to management personnel. At the same time, it will also produce corresponding water problems and pose a major threat to large areas of water environment, water ecology, water safety, water resources, and water culture. As a result, the aforementioned expansion of water environment activities will not only lead to a huge increase in management workload, but in serious cases may even cause certain economic losses. Therefore, improving the efficiency of inspections, operations, and law enforcement is an important part of water environment management.

[0003] At present, most water environment management is carried out by manual inspection. However, with the rapid expansion of the aforementioned water environment activities, manual inspection can no longer meet the real-time management needs of the water environment. In addition, manual inspection has the problems of low efficiency and high manpower and material costs. Based on this, how to provide a water environment management method that can manage the water environment in real time, with high efficiency and low manpower and material costs has become an urgent problem to be solved. Summary of the Invention

[0004] The purpose of the present invention is to provide a water environment management method and device based on drones to solve the problems of the existing technology that cannot meet the real-time management needs of the water environment, has high manpower and material costs, and is inefficient.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In the first aspect, a water environment management method based on drones is provided, comprising:

[0007] The ground station obtains the water environment video stream sent by the UAV, identifies and processes the water environment video stream, and obtains the water environment identification result;

[0008] The ground station generates a water environment problem point shooting instruction based on the water environment identification result, and sends the instruction to the drone, so that the drone shoots a video of the water environment problem point after receiving the water environment problem point shooting instruction to obtain a problem point video;

[0009] The ground station receives the problem point video sent by the drone and generates problem point description information based on the problem point video;

[0010] The ground station sends the problem point description information to the water environment backend;

[0011] The water environment backend receives the problem point description information sent by the ground station and generates an operation and maintenance task according to the task scheduling rules and the problem point description information, wherein the operation and maintenance task includes the operation and maintenance personnel information, the coordinate information of the water environment problem point and the operation and maintenance standard process;

[0012] The water environment backend sends the operation and maintenance task to the target water environment site end, so that the operation and maintenance personnel corresponding to the target water environment site end can perform maintenance on the water environment problem points based on the operation and maintenance task, wherein the target water environment site end is determined based on the operation and maintenance personnel information.

[0013] Based on the above-mentioned disclosed content, the present invention uses a drone to shoot water environment videos in real time, and obtains water environment problems through water environment videos; at the same time, after identifying the water environment problem, a problem point shooting instruction will be sent to the drone, so that the drone can perform fixed-point shooting of the water environment problem point; in this way, a close-up video of the water environment problem point can be obtained; then, the problem point description information can be generated based on the aforementioned close-up video and sent to the water environment backend; the water environment backend can generate an operation and maintenance task based on the problem point description information. At the same time, the operation and maintenance task includes the operation and maintenance personnel information of the water environment problem point, the coordinates of the water environment problem point and the standard maintenance process; based on this, this step is equivalent to realizing the allocation of operation and maintenance personnel, and generating maintenance and processing suggestions for the problem point; finally, the operation and maintenance task is sent to the water environment on-site end of the personnel corresponding to the operation and maintenance personnel information, so that timely maintenance of the water environment problem point can be achieved.

[0014] Through the above design, the present invention uses drones to inspect the water environment, and then automatically identifies water environment problem points based on the video captured by the drone, and generates corresponding problem point description information. Finally, operation and maintenance tasks can be generated based on the problem point description information, so as to promptly notify personnel to perform water environment maintenance; thus, the present invention can realize real-time, remote and large-scale inspections of the water environment, which not only reduces the time cost and material cost of on-site inspections by personnel, but also reduces the safety risk of inspections by personnel; at the same time, the generated operation and maintenance tasks contain the coordinates of the problem points and the maintenance standard process, so that personnel can quickly locate the problem points and perform professional maintenance of the problems, thereby improving the efficiency of maintenance while ensuring the quality of maintenance.

[0015] In one possible design, generating problem point description information based on the problem point video includes:

[0016] Performing image extraction processing on the problem point video to obtain at least one original image of the water environment problem point;

[0017] performing a labeling process on each of the at least one original image of the water environment problem point to obtain at least one water environment problem image, wherein any one of the water environment problem images is labeled with the water environment problem point;

[0018] Obtain water environment problem point description information, time information of the problem point video and coordinate information of the water environment problem point, and use the coordinate information, time information, water environment problem point description information and the at least one water environment problem image to form the problem point description information.

[0019] In one possible design, the problem point description information includes coordinate information of the water environment problem point and water environment problem description information;

[0020] The operation and maintenance tasks are generated according to the task scheduling rules and the problem description information, including:

[0021] Based on the coordinate information in the problem point description information, determine the distance between each operation and maintenance personnel and the water environment problem point, and determine the travel time for each operation and maintenance personnel to reach the water environment problem point based on the distance between each operation and maintenance personnel and the water environment problem point;

[0022] Obtain the current number of tasks for each operator, and calculate the scheduling score for each operator based on the current number of tasks, the distance between each operator and the water environment problem point, and the travel time of each operator;

[0023] The personnel information corresponding to the operation and maintenance personnel with the highest scheduling score is used as the operation and maintenance personnel information;

[0024] Generate a standard operation and maintenance process for the water environment problem point based on the water environment problem point description information in the problem point description information;

[0025] Generate operation and maintenance tasks using standard operation and maintenance procedures, operation and maintenance personnel information, and coordinate information of water environment problem points.

[0026] In one possible design, the scheduling score of each operator is calculated based on the number of current tasks of each operator, the distance between each operator and the water environment problem point, and the travel time of each operator, including:

[0027] The following formula (1) is used to calculate the scheduling score of each operation and maintenance personnel:

[0028] S i =-p i -q i -r i +c (1)

[0029] In the above formula (1), S i represents the scheduling score of the i-th operation and maintenance personnel, p i is less than or equal to N in the set N i The number of q i is less than or equal to L in the set L i The number of i is less than or equal to T in the set T i The number of, where set N is the set of the current number of tasks of each operation and maintenance personnel, set L is the set of the distances between each operation and maintenance personnel and the water environment problem points, set T is the set of the travel time of each operation and maintenance personnel, and N i Indicates the current number of tasks for the i-th operation and maintenance personnel, L i represents the distance between the i-th operation and maintenance personnel and the water environment problem point, T i represents the travel time of the i-th operation and maintenance personnel, and c represents the total number of operation and maintenance personnel.

[0030] In one possible design, after sending the operation and maintenance task to the target water environment site, the method further includes:

[0031] Receive operation and maintenance feedback information sent by the target water environment site, and perform vulnerability analysis based on the operation and maintenance feedback information to obtain vulnerability analysis results;

[0032] Correlating the vulnerability analysis results and the operation and maintenance feedback results with the problem point description information to obtain operation and maintenance result information;

[0033] The operation and maintenance result information is stored in a database and sent to a water environment management and display platform, so that the water environment management and display platform can visually display the operation and maintenance result information after receiving the operation and maintenance result information.

[0034] In one possible design, the operation and maintenance feedback information includes processing result information, operation and maintenance personnel information, and operation and maintenance standard procedures;

[0035] The vulnerability analysis is performed based on the operation and maintenance feedback information to obtain vulnerability analysis results, including:

[0036] Obtaining, based on the operation and maintenance feedback information, operation and maintenance consumption expenses, operation and maintenance consumption costs, and economic impact losses of the water environment problem point;

[0037] Based on the operation and maintenance consumption fee, the operation and maintenance consumption cost and the economic impact loss, the vulnerability analysis result is calculated using the following formula (2);

[0038] V=α1×μ F +α2×μC +α3×μ L (2)

[0039] In the above formula (2), V represents the vulnerability analysis result, μ F Indicates the operation and maintenance cost, μ C represents the operation and maintenance cost, μ L represents the economic impact loss, and α1, α2 and α3 represent the weight coefficients respectively.

[0040] In one possible design, the method further includes: after receiving the problem point description information sent by the ground station, the method further includes:

[0041] Storing the problem point description information in a database, and monitoring whether there is an update operation on the problem point description information in the database at a preset time interval;

[0042] If yes, extract the latest problem point description information in the database, and generate landmark information based on the coordinate information in the latest problem point description information;

[0043] Generate detailed information on water environment problem points using the landmark information and the latest problem point description information;

[0044] The detailed information of the water environment problem points is used to replace the latest problem point description information, so as to generate operation and maintenance tasks based on the detailed information of the water environment problem points, and the detailed information of the water environment problem points is sent to the water environment management and display platform, so as to visualize the detailed information of the water environment problem points through the water environment management and display platform.

[0045] Secondly, a water environment management device based on a drone is provided. Taking the device as a ground station as an example, the device includes:

[0046] The data acquisition unit is used to acquire the water environment video stream sent by the UAV, and perform recognition processing on the water environment video stream to obtain the water environment recognition result;

[0047] an instruction generating unit, configured to generate a water environment problem point shooting instruction based on the water environment identification result, and send the instruction to the drone, so that the drone shoots a video of the water environment problem point after receiving the water environment problem point shooting instruction to obtain a problem point video;

[0048] A data acquisition unit is used to receive a video of a problem point sent by a drone, and generate description information of the problem point based on the video of the problem point;

[0049] The first sending unit is used to send the problem point description information to the water environment backend, so that after receiving the problem point description information, the water environment backend generates an operation and maintenance task according to the task scheduling rules and the problem point description information, and sends the operation and maintenance task to the target water environment site end, so that the operation and maintenance personnel corresponding to the target water environment site end can maintain the water environment problem point based on the operation and maintenance task, wherein the operation and maintenance task includes operation and maintenance personnel information, coordinate information of the water environment problem point and operation and maintenance standard process, and the target water environment site end is determined based on the operation and maintenance personnel information.

[0050] Thirdly, a second drone-based water environment management device is provided, taking the device as a water environment backend as an example, including:

[0051] An operation and maintenance unit is configured to receive the problem point description information sent by the ground station and generate an operation and maintenance task according to the task scheduling rules and the problem point description information, wherein the operation and maintenance task includes operation and maintenance personnel information, coordinate information of the water environment problem point, and operation and maintenance standard process;

[0052] The second sending unit is used to send the operation and maintenance task to the target water environment site end, so that the operation and maintenance personnel corresponding to the target water environment site end can perform maintenance on the water environment problem points based on the operation and maintenance task, wherein the target water environment site end is determined based on the operation and maintenance personnel information.

[0053] In the fourth aspect, a third drone-based water environment management device is provided. Taking the device as an electronic device as an example, it includes a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the drone-based water environment management method as described in the first aspect or any possible design of the first aspect.

[0054] In a fifth aspect, a storage medium is provided, on which instructions are stored. When the instructions are run on a computer, the drone-based water environment management method as described in the first aspect or any possible design of the first aspect is executed.

[0055] In a sixth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, causes the computer to execute the drone-based water environment management method as described in the first aspect or any possible design of the first aspect.

[0056] Beneficial effects:

[0057] (1) The present invention can realize real-time, remote and large-scale inspection of the water environment, which not only reduces the time and material costs of on-site inspections by personnel, but also reduces the safety risks of inspections by personnel; at the same time, the generated operation and maintenance tasks contain the coordinates of the problem points and the maintenance standard process, so that personnel can quickly locate the problem points and perform professional maintenance on the problems, thereby improving the efficiency of maintenance while ensuring the quality of maintenance.

[0058] (2) The present invention uses on-site water environment video to automatically identify water environment problem points, and uses image extraction and processing methods to generate problem point description information; in this way, the coordinates of the water environment problem points, the time of discovery, and a brief description of the situation can be obtained, so that water environment problems can be reported promptly and quickly.

[0059] (3) The present invention obtains the landmark information of the water environment problem point through the positioning coordinates, so that water environment operation and maintenance or law enforcement personnel can intuitively and quickly understand the geographical surroundings of the water environment problem.

[0060] (4) The present invention realizes the automatic allocation of water environment problem tasks, statistics and analysis of task feedback, so that the impact of water environment problems can be automatically and accurately responded to, thereby solving the existing problem of insufficient manpower and material resources, and more efficiently and effectively deploying decision-making analysis work; at the same time, the relevant statistical analysis content can also be used for future optimization tasks, thereby providing data support for subsequent water environment optimization tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 A schematic diagram of the architecture of a water environment management system based on a drone provided in an embodiment of the present invention;

[0062] Figure 2 A schematic flow chart of the steps of the water environment management method based on drones provided in an embodiment of the present invention;

[0063] Figure 3 A schematic diagram of the operation flow of a ground station provided in an embodiment of the present invention;

[0064] Figure 4 A schematic diagram of the operation flow of the water environment backend provided by an embodiment of the present invention;

[0065] Figure 5 A flow chart for generating detailed information on water environment problems provided by an embodiment of the present invention;

[0066] Figure 6 A schematic diagram of the structure of a ground station provided in an embodiment of the present invention;

[0067] Figure 7 A schematic diagram of the structure of the water environment backend provided by an embodiment of the present invention;

[0068] Figure 8 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0069] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly introduced below in conjunction with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0070] It should be understood that although the terms "first," "second," etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element can be referred to as a second element, and similarly, a second element can be referred to as a first element without departing from the scope of the exemplary embodiments of the present invention.

[0071] It should be understood that the term "and / or" that may appear in this document is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B may indicate three situations: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" that may appear in this document describes another type of association object relationship, indicating that two relationships may exist. For example, A / and B may indicate two situations: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this document generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0072] Example:

[0073] See also Figure 1As shown, the present application provides a water environment management system based on drones, which may include but is not limited to: drones, ground stations, water environment background terminals and water environment field terminals, wherein the drones are connected to the ground station for communication, and the water environment background terminals are respectively connected to the ground station and the water environment field terminals for communication; in specific implementation, the ground station controls the drone to fly along a preset path, so as to shoot a path video when flying on the preset path, thereby obtaining a water environment video stream, and the ground station receives the video stream shot by the drone and identifies water environment problems; at the same time, when the ground station identifies that there are water environment problem points in the video stream shot by the drone, it will generate a water environment problem point shooting instruction and send it to the drone, so that the drone can perform fixed-point shooting of the problem point (such as zooming in to shoot, and obtaining a problem point video) ); then, the ground station can generate problem point description information (such as the coordinates of the problem point, water environment problem image, time, problem point description information, etc.) based on the problem point video sent by the drone; finally, the ground station sends the problem point description information to the water environment backend, so that the water environment backend generates operation and maintenance tasks based on the received problem point description information, and sends the operation and maintenance tasks to the water environment field end corresponding to the determined operation and maintenance personnel, so that the operation and maintenance personnel can deal with the problem points in time according to the operation and maintenance tasks; in this way, through the above-mentioned design, the system can realize large-scale and efficient inspection of the water environment. At the same time, when inspecting water environment problem points, the operation and maintenance personnel can be quickly identified, and the operation and maintenance tasks can be sent to the terminal corresponding to the operation and maintenance personnel, thereby realizing efficient maintenance of water environment problem points.

[0074] See also Figures 2-4 As shown, the UAV-based water environment management method provided in this embodiment can be but is not limited to running on a ground station, a water environment background end, or a water environment field end. Optionally, the water environment field end can be but is not limited to a personal computer (PC), a tablet computer or a smart phone. It can be understood that the aforementioned execution subject does not constitute a limitation on the embodiments of the present application. Accordingly, the operation steps of this method can be but are not limited to the following steps S1 to S6.

[0075] S1. The ground station obtains the water environment video stream sent by the UAV, and performs recognition processing on the water environment video stream to obtain the water environment recognition result; in the specific implementation, see Figure 3As shown, the drone can be, but is not limited to, a pre-set patrol path and equipped with a camera with one or more spectral combinations. In this way, when the drone flies along the predetermined path, the camera can collect video on the path to obtain a water environment video stream; optionally, the drone can also fly based on instructions sent by the ground station, which is generated by the ground station staff during human-computer interaction with the ground station; further, after receiving the water environment video stream sent back by the drone, the ground station can identify water environment problems through machine recognition. Specifically, the water environment video stream can be processed frame by frame first, and then the trained neural network model can be used to perform image recognition on the images obtained by frame processing to obtain a water environment recognition result; in this embodiment, the water environment recognition result can be, but is not limited to, including the existence of water environment problem points or the normal water environment, among which the existence of water environment problem points can include, but is not limited to, illegal sand mining problems, environmental cleaning problems, water quality problems, water area shoreline management problems and dam safety management problems.

[0076] In addition, for example, after receiving the water environment video stream, the ground station can also visualize the video stream. In this way, water environment problems can be identified manually, and the ground station can obtain the identification results during human-computer interaction with the ground station.

[0077] After identifying the water environment problem, the ground station can send a shooting instruction of the water environment problem point to the drone, so that the drone can take a fixed-point shot of the problem point, as shown in the following step S2.

[0078] S2. The ground station generates a water environment problem point shooting instruction based on the water environment identification result and sends it to the drone, so that the drone can shoot a video at the water environment problem point after receiving the water environment problem point shooting instruction to obtain a problem point video; in this embodiment, for example, the drone will send its position coordinates to the ground station in real time when flying. Therefore, after the water environment problem point is obtained based on image recognition, the position of the drone at the aforementioned time can be determined according to the time at which the image is located in the video, and the position is added to the water environment problem point shooting instruction, so that after receiving the instruction, the drone will hover according to the position coordinates in the instruction and shoot the video corresponding to the position coordinates at a fixed point to obtain the problem point video; of course, if manual identification in the aforementioned step S1 is adopted, the ground station staff directly sends the water environment problem point shooting instruction to the drone based on the ground station, so that the drone hovers at the water environment problem point for fixed-point shooting; optionally, for example, fixed-point shooting can be but is not limited to zoom shooting, and can also be understood as close-up shooting of the problem point.

[0079] After the drone completes the fixed-point shooting of the water environment problem point, it can send the problem point video to the ground station, and the ground station can generate problem point description information based on the problem point video and upload it to the water environment backend, so that the water environment backend can generate operation and maintenance tasks based on the problem point description information to achieve rapid processing of the problem point; among them, the generation process of the problem point description information can be seen in the following step S3.

[0080] S3. The ground station receives the problem point video sent by the UAV, and generates problem point description information based on the problem point video; in this embodiment, the example problem point description information may include, but is not limited to, water environment problem point description information, time information of the problem point video, coordinate information of the water environment problem point, and at least one water environment problem image; wherein, the example water environment problem point description information may include problem description (such as illegal sand mining, water quality problem, etc.), notification classification of the problem point, severity of the problem, etc.; and each water environment problem image is marked with a water environment problem point, such as framing the area where the water environment problem point is located in the figure; of course, the marking can also be in other forms, which are not specifically limited here.

[0081] Optionally, one of the following solutions for generating the public problem description information may be, but is not limited to, steps S31 to S33.

[0082] S31. Perform image extraction on the problem point video to obtain at least one original image of the water environment problem point; in specific applications, for example, image extraction processing can be but not limited to video frame processing (such as every 10 frames), frame-by-frame processing or video screenshot processing (see Figure 3 As shown, Figure 3 The problem point screenshot in represents the original image of the water environment problem point); after obtaining at least one original image of the water environment problem point, image annotation can be performed, as shown in the following step S32.

[0083] S32. Annotate each original image of the at least one water environment problem point to obtain at least one water environment problem image, wherein the water environment problem point is annotated in any one of the water environment problem images; in this embodiment, for example, but not limited to, each original image of the water environment problem point is visually displayed, and an annotation tool is provided, so that when the ground station detects the annotation operation of the annotation tool, it can perform annotation processing on the original image of the water environment problem point; in this embodiment, the annotation operation is generated when the ground station staff conducts human-computer interaction with the ground station, such as, when the staff uses the annotation tool to annotate on the ground station operation interface (the annotation can be a frame to mark the problem point area); of course, image recognition can also be used to identify the problem point area in each original image of the water environment problem point, so as to annotate the problem point area.

[0084] After the original image of the water environment problem point is labeled, the coordinates, shooting time, and brief description of the problem point can be obtained, and then combined with the aforementioned water environment problem point image to generate problem point description information; wherein, the process of obtaining the aforementioned information is shown in the following step S33.

[0085] S33. Obtain water environment problem point description information, time information of the problem point video, and coordinate information of the water environment problem point, and use the coordinate information, the time information, the water environment problem point description information, and the at least one water environment problem image to form the problem point description information; in this embodiment, the coordinate information can be, but is not limited to, obtained by drone positioning, and the water environment problem point description information can be, but is not limited to, obtained when the ground station performs human-computer interaction operations; for example, a description box can be, but is not limited to, popped up on the human-computer interaction interface of the ground station, and the staff can write a summary description of the problem in the description box (see Figure 3 As shown); in this way, after the input is completed, the water environment problem point description information can be obtained; finally, the above information and image data can be used to form the problem point description information.

[0086] Therefore, through the aforementioned steps S31 to S33, the present invention can generate description information of each water environment problem point after completing the shooting of the water environment video stream, and then, the description information can be uploaded to the water environment backend, so that the water environment backend can determine the corresponding operation and maintenance personnel based on the description information, and generate corresponding operation and maintenance tasks, thereby realizing timely maintenance of the water environment problem points; in this embodiment, the data uploading process and the operation and maintenance task generation process can be seen in the following steps S4 and step S5.

[0087] S4. The ground station sends the problem point description information to the water environment backend.

[0088] S5. The water environment backend receives the problem point description information sent by the ground station, and generates an operation and maintenance task according to the task scheduling rules and the problem point description information, wherein the operation and maintenance task includes the operation and maintenance personnel information, the coordinate information of the water environment problem point and the operation and maintenance standard process; in this embodiment, the operation and maintenance task can be generated based on the coordinate information in the problem point description information and the water environment problem description information, for example, but not limited to, and the generation process can be as shown in the following steps S51 to S55.

[0089] S51. Based on the coordinate information in the problem point description information, determine the distance between each operation and maintenance personnel and the water environment problem point, and determine the travel time for each operation and maintenance personnel to reach the water environment problem point based on the distance between each operation and maintenance personnel and the water environment problem point; in this embodiment, the distance and travel time between each operation and maintenance personnel and the water environment problem point can be calculated based on the position of each operation and maintenance personnel and the position of the water environment problem point; among them, for example, the position of any operation and maintenance personnel is uploaded by the water environment on-site terminal of any operation and maintenance personnel; in this way, the distance and travel time can be calculated based on the coordinate information and the position of the personnel.

[0090] After obtaining the distance between each operation and maintenance personnel and the water environment problem point, as well as the travel time taken to reach the water environment problem point, the operation and maintenance personnel who will perform maintenance on the water environment problem point can be determined based on the above information; the personnel determination process is shown in the following step S52.

[0091] S52. Obtain the current number of tasks of each operation and maintenance personnel, and calculate the scheduling score of each operation and maintenance personnel based on the current number of tasks of each operation and maintenance personnel, the distance between each operation and maintenance personnel and the water environment problem point, and the travel time of each operation and maintenance personnel; in this embodiment, for example, the current number of tasks of each operation and maintenance personnel can be obtained by, but not limited to, reading the account information of each operation and maintenance personnel from the water environment backend, and can be, but not limited to, using the following formula (1) to calculate the scheduling score of each operation and maintenance personnel.

[0092] S i =-p i -q i -r i +c (1)

[0093] In the above formula (1), S i represents the scheduling score of the i-th operation and maintenance personnel, p i is less than or equal to N in the set N i The number of q i is less than or equal to L in the set L i The number of i is less than or equal to T in the set T i The number of, where set N is the set of the current number of tasks of each operation and maintenance personnel, set L is the set of the distances between each operation and maintenance personnel and the water environment problem points, set T is the set of the travel time of each operation and maintenance personnel, and N i Indicates the current number of tasks for the i-th operation and maintenance personnel, L i represents the distance between the i-th operation and maintenance personnel and the water environment problem point, T i represents the travel time of the i-th operation and maintenance personnel, and c represents the total number of operation and maintenance personnel.

[0094] After obtaining the scheduling scores of each operation and maintenance personnel, the operation and maintenance personnel with the highest score can be used as the operator of the water environment problem point; in this way, the operation and maintenance personnel information can be generated based on the information of the operation and maintenance personnel with the highest score, as shown in the following step S53.

[0095] S53. The personnel information corresponding to the operation and maintenance personnel with the highest scheduling score is used as the operation and maintenance personnel information; in specific implementation, the operation and maintenance personnel information may include, but is not limited to, the number of the administrator corresponding to the operation and maintenance personnel, the operation and maintenance personnel number, the communication address of the operation and maintenance personnel corresponding to the water environment site, the name of the operation and maintenance personnel, length of service, years of experience, etc.

[0096] In this embodiment, the calculation process of the scheduling score is described below using an example, as follows:

[0097] Assume that the total number of operation and maintenance personnel is 3, namely A, B and C. Among them, the current number of tasks of A is 2, the current number of tasks of B is 3, and the current number of tasks of C is 1; the distance between A and the water environment problem point is 1km, the distance between B and the water environment problem point is 2km, and the distance between C and the water environment problem point is 1.5km; the travel time of A is 10 minutes, the travel time of B is 15 minutes, and the travel time of C is 8 minutes.

[0098] Then, the sets N, L, and T are: N = {231}, L = {121.5}, T = {10158}. Thus, for operator A, p i Equal to 2, q i Equal to 1, r i =2, so the scheduling score of operator A is:

[0099] -2-1-2+3=-2; similarly, for operation and maintenance personnel B, his scheduling score is: -3-3-3+3=-6; for operation and maintenance personnel C, his scheduling score is: -1-2-1+3=-1; in this way, C can be regarded as the operation and maintenance personnel of the water environment problem point, and his corresponding personnel information can be used as the operation and maintenance personnel information; of course, when the number of operation and maintenance personnel is different, the calculation process of the scheduling score of each operation and maintenance personnel is the same as the above example, and will not be repeated here.

[0100] After determining the operation and maintenance personnel who will handle the water environment problem points, a standard operation and maintenance process can be generated based on the water environment problem point description information so that the operation and maintenance personnel can perform their work according to the process, thereby improving the processing speed and quality; among them, the generation process of the standard operation and maintenance process can be but is not limited to the following step S54 as shown.

[0101] S54. Generate a standard operation and maintenance process for the water environment problem point based on the water environment problem point description information in the problem point description information; in this embodiment, the water environment backend is provided with a database, and the database stores the processing processes corresponding to different water environment problems. In this way, the corresponding processing process can be matched in the database based on the water environment problem point description information; optionally, the standard operation and maintenance process can include but is not limited to the resources required for the task (such as the need to use emergency rescue vehicles, emergency mobile pumps or other equipment), possible risks and rewards of the task, task operation processes, etc.

[0102] After obtaining the standard operation and maintenance process of the water environment problem point, the above information can be used to generate operation and maintenance tasks, as shown in the following step S55.

[0103] S55. Generate an operation and maintenance task using the standard operation and maintenance process, operation and maintenance personnel information, and coordinate information of the water environment problem point. In this embodiment, the operation and maintenance task may also include, but is not limited to, a water environment image, so that the operation and maintenance personnel can intuitively understand the current status of the water environment problem point.

[0104] Therefore, through the aforementioned steps S51 to S55, the present invention can quickly generate an operation and maintenance task when a water environment problem is detected, and send it to the terminal of the corresponding operation and maintenance personnel; in this way, the water environment problem point can be quickly handled; specifically, the task sending process can be but is not limited to the following step S6.

[0105] S6. The water environment backend sends the operation and maintenance task to the target water environment site end, so that the operation and maintenance personnel corresponding to the target water environment site end can perform maintenance on the water environment problem points based on the operation and maintenance task, wherein the target water environment site end is determined based on the information of the operation and maintenance personnel; in this embodiment, after receiving the operation and maintenance task, the operation and maintenance personnel at the target water environment site end can eliminate the water environment problem according to the operation and maintenance standard process in the task. The processing process can be seen in Figure 4 As shown; in addition, before issuing the operation and maintenance task, task confirmation can also be performed, that is, task confirmation is issued to the administrator of the corresponding personnel at the target water environment site, and after confirmation, the operation and maintenance task is sent to the target water environment site, thereby completing the handling of the water environment problem.

[0106] Therefore, through the drone-based water environment management method described in detail in the aforementioned steps S1 to S6, the present invention uses drones to achieve real-time, remote and large-scale inspections of the water environment, which not only reduces the time and material costs of on-site inspections by personnel, but also reduces the safety risks of personnel inspections; at the same time, when water environment problems are detected, operation and maintenance personnel can be quickly assigned, and operation and maintenance tasks containing the coordinates of the problem points and maintenance standard procedures can be generated. In this way, personnel can quickly locate the problem points and perform professional maintenance of water environment problems, thereby improving the efficiency of maintenance while ensuring the quality of maintenance.

[0107] In one possible design, see Figure 5 As shown, the second aspect of this embodiment is further optimized on the basis of the first aspect of the embodiment, that is, a database is set up on the water environment background end to store the problem point description information uploaded by the ground station, and at the same time, the task is notified by monitoring whether there is any data change in the database; wherein, the above-mentioned task notification process is as shown in the following steps S7 to S10.

[0108] S7. Store the problem point description information in a database, and monitor whether there is an update operation on the problem point description information in the database at preset time intervals; in this embodiment, for example, whether there is an update operation on the problem point description information refers to: detecting whether new data is stored in the database, that is, whether the amount of data has changed; and the preset time length can be but is not limited to 10s, 20s, 1 minute, etc., which can be specifically set according to actual use and is not specifically limited here.

[0109] After detecting that there is an update operation in the database, the latest problem point description information can be extracted and corresponding landmark information can be generated, as shown in the following step S8.

[0110] S8. If so, extract the latest problem point description information from the database and generate landmark information based on the coordinate information in the latest problem point description information; in this embodiment, it is equivalent to obtaining the coordinate information of the latest data and generating landmark information based on the coordinate information, see Figure 5 As shown, for example, but not limited to, the landmark information can be obtained by using a map tool for analysis; then, the landmark information can be added to the latest problem point description information to obtain detailed information on the water environment problem point, as shown in the following step S9.

[0111] S9. Generate detailed information on water environment problem points using the landmark information and the latest problem point description information; after obtaining the detailed information on water environment problem points, data replacement can be performed, that is, the latest problem point description information can be replaced with the detailed information on water environment problem points, so as to generate operation and maintenance tasks using the detailed information on water environment problem points, and send them to the water environment management and display platform for visual display, thereby realizing notification of water environment problem points; specifically, the aforementioned processing process can be seen in the following step S10.

[0112] S10. Use the detailed information of the water environment problem point to replace the latest problem point description information, so as to generate an operation and maintenance task based on the detailed information of the water environment problem point, and send the detailed information of the water environment problem point to the water environment management and display platform, so as to visualize the detailed information of the water environment problem point through the water environment management and display platform; in this embodiment, the process of generating an operation and maintenance task based on the detailed information of the water environment problem point can refer to the aforementioned step S5, and the only difference is that the operation and maintenance task can include landmark information; in this embodiment, the water environment background end can also issue a notification message to the water environment field end, and the message contains the aforementioned detailed information of the water environment problem point, such as Figure 5 shown.

[0113] Therefore, through the above-mentioned design, the present invention uses the positioning coordinates to obtain the landmark information of the water environment problem point, so that water environment operation and maintenance or law enforcement personnel can intuitively and quickly understand the geographical surroundings of the water environment problem.

[0114] In one possible design, the third aspect of this embodiment is further optimized based on the first and second aspects of the embodiment, and a closed-loop statistical analysis of business with water environment problem points is designed, and the results are displayed; wherein, the closed-loop statistical analysis processing flow can be but is not limited to the following steps.

[0115] A. Receive operation and maintenance feedback information sent by the target water environment on-site terminal, and perform vulnerability analysis based on the operation and maintenance feedback information to obtain vulnerability analysis results. In this embodiment, for example, the operation and maintenance feedback information is sent to the water environment backend terminal through the target water environment on-site terminal after the operation and maintenance personnel complete the processing of the water environment problem point, and the operation and maintenance feedback information may include, but is not limited to, processing result information, operation and maintenance personnel information, and operation and maintenance standard procedures. Furthermore, the operation and maintenance standard procedures include the allocation of resources required for the task, and the operation and maintenance personnel information includes the distance between the corresponding operation and maintenance personnel and the water environment problem point. The processing result information may include a task success or failure report, task completion time, on-site images before and after processing, and a task summary description, etc. In this way, based on the aforementioned operation and maintenance feedback information, a closed-loop analysis of the business can be performed.

[0116] In this embodiment, taking the aforementioned closed-loop analysis as an example, the vulnerability analysis process may be, but is not limited to, the following steps.

[0117] Step 1: Based on the operation and maintenance feedback information, obtain the operation and maintenance consumption expenses, operation and maintenance consumption costs and economic impact losses of the water environment problem points; in this embodiment, the operation and maintenance consumption expenses and operation and maintenance consumption costs reflect the equipment, material and human resources input in the process of treating the water environment problem points; and the economic impact losses refer to the costs required to restore the water environment problem points to their original state; optionally, the operation and maintenance consumption expenses and operation and maintenance consumption costs can be calculated based on the resources required for the task and the distance between the operation and maintenance personnel and the water environment problem points; specifically, the water environment backend can visualize the aforementioned operation and maintenance feedback information, and the backend staff can calculate the aforementioned operation and maintenance consumption expenses, operation and maintenance consumption costs and economic impact losses based on the operation and maintenance feedback information; and then input them into the water environment backend; and after obtaining the aforementioned data, the vulnerability can be calculated, as shown in the following second step.

[0118] Step 2: Based on the operation and maintenance consumption fee, the operation and maintenance consumption cost and the economic impact loss, the vulnerability analysis result is calculated using the following formula (2);

[0119] V=α1×μ F +α2×μ C +α3×μ L (2)

[0120] In the above formula (2), V represents the vulnerability analysis result, μ F Indicates the operation and maintenance cost, μ C represents the operation and maintenance cost, μ L represents the economic impact loss, and α1, α2 and α3 represent the weight coefficients respectively.

[0121] Based on the above formula (2), the vulnerability value of the water environment problem point can be calculated, and then it can be associated with the problem point description information and reported to the database and water environment management and display platform, thereby realizing business closed-loop analysis and results display.

[0122] B. Correlate the vulnerability analysis results and the operation and maintenance feedback results with the problem point description information to obtain operation and maintenance result information.

[0123] C. The operation and maintenance results information is stored in a database and sent to a water environment management and display platform, so that the water environment management and display platform can visualize the operation and maintenance results information after receiving the operation and maintenance results information; in this embodiment, the aforementioned operation and maintenance results information can also be sent to the water environment site end to be displayed to the operation and maintenance personnel; of course, the water environment site end and the water environment management and display platform can also send a notification display request to the water environment backend end, so that based on the request, the database can pull the operation and maintenance results information for display.

[0124] Therefore, through the above-mentioned design, the present invention realizes the automatic allocation of water environment problem tasks, statistics and analysis of task feedback, so that the impact of water environment problems can be responded to automatically and accurately, thereby solving the existing problems of insufficient manpower and material resources, and quickly deploying decision-making analysis work more efficiently and effectively; at the same time, the relevant statistical analysis content can also be used for future optimization tasks, thereby providing data support for subsequent water environment optimization tasks.

[0125] like Figure 6 As shown, the fourth aspect of this embodiment provides a hardware device for implementing the UAV-based water environment management method described in the first, second, and third aspects of the embodiment, taking the device as a ground station as an example, including:

[0126] The data acquisition unit is used to obtain the water environment video stream sent by the drone, and identify and process the water environment video stream to obtain the water environment identification result.

[0127] The instruction generation unit is used to generate a water environment problem point shooting instruction based on the water environment identification result, and send it to the drone, so that the drone can shoot a video at the water environment problem point after receiving the water environment problem point shooting instruction to obtain a problem point video.

[0128] The data acquisition unit is used to receive the problem point video sent by the drone and generate problem point description information based on the problem point video.

[0129] The first sending unit is used to send the problem point description information to the water environment backend, so that after receiving the problem point description information, the water environment backend generates an operation and maintenance task according to the task scheduling rules and the problem point description information, and sends the operation and maintenance task to the target water environment site end, so that the operation and maintenance personnel corresponding to the target water environment site end can maintain the water environment problem point based on the operation and maintenance task, wherein the operation and maintenance task includes operation and maintenance personnel information, coordinate information of the water environment problem point and operation and maintenance standard process, and the target water environment site end is determined based on the operation and maintenance personnel information.

[0130] The working process, working details and technical effects of the device provided in this embodiment can be found in the first, second and third aspects of the embodiment, and will not be repeated here.

[0131] like Figure 7 As shown, the fifth aspect of this embodiment provides a second hardware device for implementing the drone-based water environment management method described in the first, second, and third aspects of the embodiment, taking the device as a water environment backend as an example, including:

[0132] The operation and maintenance unit is used to receive the problem point description information sent by the ground station and generate an operation and maintenance task according to the task scheduling rules and the problem point description information, wherein the operation and maintenance task includes the operation and maintenance personnel information, the coordinate information of the water environment problem point and the operation and maintenance standard process.

[0133] The second sending unit is used to send the operation and maintenance task to the target water environment site end, so that the operation and maintenance personnel corresponding to the target water environment site end can perform maintenance on the water environment problem points based on the operation and maintenance task, wherein the target water environment site end is determined based on the operation and maintenance personnel information.

[0134] The working process, working details and technical effects of the device provided in this embodiment can be found in the first, second and third aspects of the embodiment, and will not be repeated here.

[0135] like Figure 8 As shown, the sixth aspect of this embodiment provides a third drone-based water environment management device, taking the device as an electronic device as an example, comprising: a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the drone-based water environment management method as described in the first aspect, second aspect and / or third aspect of the embodiment.

[0136] For example, the memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in first-out memory (FIFO), and / or first-in last-out memory (FILO); specifically, the processor may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. The processor may be implemented in at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Furthermore, the processor may include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); and the coprocessor is a low-power processor for processing data in a standby state.

[0137] In some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. For example, the processor may be, but is not limited to, a microprocessor of the STM32F105 series, a reduced instruction set computer (RISC) microprocessor, an X86 architecture processor, or a processor with an integrated embedded neural network processing unit (NPU); the transceiver may be, but is not limited to, a wireless fidelity (WIFI) wireless transceiver, a Bluetooth wireless transceiver, a general packet radio service technology (GPRS) wireless transceiver, a ZigBee protocol (a low-power local area network protocol based on the IEEE802.15.4 standard, ZigBee) wireless transceiver, a 3G transceiver, a 4G transceiver, and / or a 5G transceiver. In addition, the device may also include, but is not limited to, a power module, a display screen, and other necessary components.

[0138] The working process, working details and technical effects of the electronic device provided in this embodiment can be found in the first aspect, the second aspect and / or the third aspect of the embodiment, and will not be repeated here.

[0139] The seventh aspect of this embodiment provides a storage medium that stores instructions for the drone-based water environment management method described in the first, second and / or third aspects of the embodiment, that is, the storage medium stores instructions, and when the instructions are run on a computer, the drone-based water environment management method described in the first, second and / or third aspects of the embodiment is executed.

[0140] The storage medium refers to a carrier for storing data, which may include but is not limited to a floppy disk, an optical disk, a hard disk, a flash memory, a USB flash drive and / or a memory stick, and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0141] The working process, working details and technical effects of the storage medium provided in this embodiment can be found in the first aspect of the embodiment and will not be described in detail here.

[0142] An eighth aspect of this embodiment provides a computer program product comprising instructions, which, when executed on a computer, causes the computer to execute the drone-based water environment management method as described in the first, second and / or third aspects of the embodiment, wherein the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0143] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A water environment management method based on drones, characterized in that: Applicable to ground stations and water environment back-ends, including: The ground station obtains the water environment video stream sent by the UAV, identifies and processes the water environment video stream, and obtains the water environment identification result; The ground station generates a water environment problem point shooting instruction based on the water environment identification result, and sends the instruction to the drone, so that the drone shoots a video of the water environment problem point after receiving the water environment problem point shooting instruction to obtain a problem point video; The ground station receives the problem point video sent by the drone and generates problem point description information based on the problem point video; The ground station sends the problem point description information to the water environment backend; The water environment backend receives the problem point description information sent by the ground station and generates an operation and maintenance task according to the task scheduling rules and the problem point description information, wherein the operation and maintenance task includes the operation and maintenance personnel information, the coordinate information of the water environment problem point and the operation and maintenance standard process; The water environment backend sends the operation and maintenance task to the target water environment site, so that the operation and maintenance personnel corresponding to the target water environment site perform maintenance on the water environment problem point based on the operation and maintenance task, wherein the target water environment site is determined based on the operation and maintenance personnel information; The problem point description information includes coordinate information of the water environment problem point and water environment problem description information; The operation and maintenance tasks are generated according to the task scheduling rules and the problem description information, including: Based on the coordinate information in the problem point description information, determine the distance between each operation and maintenance personnel and the water environment problem point, and determine the travel time for each operation and maintenance personnel to reach the water environment problem point based on the distance between each operation and maintenance personnel and the water environment problem point; Obtain the current number of tasks for each operator, and calculate the scheduling score for each operator based on the current number of tasks, the distance between each operator and the water environment problem point, and the travel time of each operator; The personnel information corresponding to the operation and maintenance personnel with the highest scheduling score is used as the operation and maintenance personnel information; Generate a standard operation and maintenance process for the water environment problem point based on the water environment problem point description information in the problem point description information; Generate operation and maintenance tasks using standard operation and maintenance procedures, operation and maintenance personnel information, and coordinate information of water environment problem points; The scheduling score of each operation and maintenance personnel is calculated based on the current number of tasks of each operation and maintenance personnel, the distance between each operation and maintenance personnel and the water environment problem point, and the travel time of each operation and maintenance personnel, including: The following formula (1) is used to calculate the scheduling score of each operation and maintenance personnel: （1） In the above formula (1), represents the scheduling score of the i-th operation and maintenance personnel, is a collection Less than or equal to The number of is a collection Less than or equal to The number of is a collection Less than or equal to The number of, among which, the set is the set of current task quantities of each operation and maintenance personnel, is the set of distances between each operation and maintenance personnel and water environment problem points, is the set of travel time of each operation and maintenance personnel, and Indicates the current number of tasks for the i-th operation and maintenance personnel, represents the distance between the i-th operation and maintenance personnel and the water environment problem point, represents the travel time of the i-th operation and maintenance personnel, Indicates the total number of operation and maintenance personnel.

2. The method according to claim 1, characterized in that Generate problem point description information based on the problem point video, including: Performing image extraction processing on the problem point video to obtain at least one original image of the water environment problem point; performing a labeling process on each of the at least one original image of the water environment problem point to obtain at least one water environment problem image, wherein any one of the water environment problem images is labeled with the water environment problem point; Obtain water environment problem point description information, time information of the problem point video and coordinate information of the water environment problem point, and use the coordinate information, time information, water environment problem point description information and the at least one water environment problem image to form the problem point description information.

3. The method according to claim 1, characterized in that After sending the operation and maintenance task to the target water environment site, the method further includes: Receive operation and maintenance feedback information sent by the target water environment site, and perform vulnerability analysis based on the operation and maintenance feedback information to obtain vulnerability analysis results; Correlating the vulnerability analysis results and the operation and maintenance feedback results with the problem point description information to obtain operation and maintenance result information; The operation and maintenance result information is stored in a database and sent to a water environment management and display platform, so that the water environment management and display platform can visually display the operation and maintenance result information after receiving the operation and maintenance result information.

4. The method according to claim 3, characterized in that The operation and maintenance feedback information includes processing result information, operation and maintenance personnel information and operation and maintenance standard process; The vulnerability analysis is performed based on the operation and maintenance feedback information to obtain vulnerability analysis results, including: Obtaining, based on the operation and maintenance feedback information, operation and maintenance consumption expenses, operation and maintenance consumption costs, and economic impact losses of the water environment problem point; Based on the operation and maintenance consumption fee, the operation and maintenance consumption cost and the economic impact loss, the vulnerability analysis result is calculated using the following formula (2); （2） In the above formula (2), represents the vulnerability analysis results, Indicates the operation and maintenance consumption cost, Indicates the operation and maintenance cost, Indicates economic impact losses, 、 and Represent the weight coefficients respectively.

5. The method according to claim 1, wherein The method further includes: after receiving the problem point description information sent by the ground station, the method further includes: Storing the problem point description information in a database, and monitoring whether there is an update operation on the problem point description information in the database at a preset time interval; If yes, extract the latest problem point description information in the database, and generate landmark information based on the coordinate information in the latest problem point description information; Generate detailed information on water environment problem points using the landmark information and the latest problem point description information; The detailed information of the water environment problem points is used to replace the latest problem point description information, so as to generate operation and maintenance tasks based on the detailed information of the water environment problem points, and the detailed information of the water environment problem points is sent to the water environment management and display platform, so as to visualize the detailed information of the water environment problem points through the water environment management and display platform.

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