UAV data processing and control system for environmental risk perception in complex environments

Abstract

The present invention provides a data processing and control system for an unmanned aerial vehicle for environmental risk perception in a complex environment, comprising: a route layout module, for arranging a monitoring route for an unmanned aerial vehicle for a monitoring area; a monitoring module, for controlling the unmanned aerial vehicle to perform multi-dimensional environmental monitoring according to the monitoring route, and obtain multi-dimensional environmental monitoring data; an analysis module, for transmitting the multi-dimensional environmental monitoring data to a control center, and analyzing the multi-dimensional environmental monitoring data based on the control center; a marking and decision module, for determining potential environmental risks based on the analysis results, and marking the potential environmental risks, and at the same time, determining a target environmental management decision strategy based on the marking results; the module helps to improve the effectiveness and comprehensiveness of unmanned aerial vehicle monitoring of the monitoring area during the power transmission and transformation construction period, thereby providing effective and accurate identification and decision-making for environmental risk perception of environmental management during the power transmission and transformation construction period.

Description

Technical Field

[0001] The present invention relates to the technical field of data monitoring and processing, and in particular to a drone data processing and control system for environmental risk perception in a complex environment. Background Art

[0002] At present, in order to meet the growing demand for electricity, the scale and cross-border area of ​​power transmission and transformation projects are constantly expanding. The construction area is gradually deepening into the Qinghai-Tibet Plateau and the northwest desert. The high altitude, strong wind and other complex and fragile natural environments will inevitably cause disturbances to the transit area, destroying the surface vegetation and soil structure, causing soil erosion, reducing vegetation coverage and other ecological impacts. Improper handling can easily cause noise, dust, wastewater, garbage and other environmental pollution, thus affecting the quality of the ecological environment.

[0003] However, the current technology for environmental monitoring of power transmission and transformation project construction is limited, and it is impossible to perceive environmental risks based on drones in complex environments, which makes it impossible to efficiently and comprehensively inspect the monitoring area during the power transmission and transformation construction period, reducing the effectiveness and comprehensiveness of drone monitoring.

[0004] Therefore, in order to overcome the above technical problems, the present invention provides a drone data processing and control system for environmental risk perception in a complex environment. Summary of the invention

[0005] The present invention provides a drone data processing and control system for environmental risk perception in a complex environment, which is used to effectively ensure that the drone can efficiently and comprehensively patrol the monitoring area during the power transmission and transformation construction period by laying out the drone's monitoring route for the monitoring area during the power transmission and transformation construction period. By collecting multi-dimensional environmental monitoring data through drones, the multi-dimensional environmental monitoring data can be effectively analyzed comprehensively based on the control center, thereby effectively realizing the identification of potential environmental risks. By marking and generating target environmental management decision-making strategies, the perception and response capabilities of environmental risks in complex environments can be improved, which helps to improve the effectiveness and comprehensiveness of drone monitoring of the monitoring area during the power transmission and transformation construction period, thereby providing effective and accurate identification and decision-making for environmental risk perception of environmental management during the power transmission and transformation construction period.

[0006] A drone data processing and control system for environmental risk perception in complex environments, including:

[0007] Route layout module, used to layout the monitoring route of the drone for the monitoring area;

[0008] The monitoring module is used to control the UAV to perform multi-dimensional environmental monitoring according to the monitoring route and obtain multi-dimensional environmental monitoring data;

[0009] An analysis module is used to transmit the multi-dimensional environmental monitoring data to the control center and analyze the multi-dimensional environmental monitoring data based on the control center;

[0010] The marking and decision-making module is used to determine potential environmental risks based on the analysis results and mark the potential environmental risks. At the same time, it determines the target environmental management decision strategy based on the marking results.

[0011] Preferably, a drone data processing and control system for environmental risk perception in a complex environment, a monitoring module, includes:

[0012] The configuration unit is used to read the environmental monitoring dimension and match the target monitoring sensor according to the environmental monitoring dimension. At the same time, it obtains the configuration requirements of the UAV and configures each target monitoring sensor on the UAV according to the configuration requirements of the UAV.

[0013] The control unit is used to read the monitoring route and control the configured drone to perform multi-dimensional monitoring according to the monitoring route. The multi-dimensional monitoring includes: vegetation monitoring, water and soil monitoring, temperature and humidity monitoring, dust monitoring, noise monitoring and wind monitoring;

[0014] The data acquisition unit is used to obtain environmental monitoring data based on multi-dimensional monitoring results.

[0015] Preferably, a drone data processing and control system for environmental risk perception in a complex environment, and an analysis module, include:

[0016] A verification unit, used to obtain the data communication code of the drone and verify the data communication code of the drone based on the control center;

[0017] A data receiving and reading unit is used to receive and read the multi-dimensional environmental monitoring data based on the control center when the verification is passed, and determine the data distribution status of each dimension of the multi-dimensional environmental monitoring data;

[0018] Environmental risk assessment unit, used for:

[0019] Obtain the standard data interval for each environmental monitoring dimension, and compare the data distribution status of each dimension of environmental monitoring data with the corresponding standard data interval to determine whether there is a potential environmental risk;

[0020] If the data distribution status of the dimension monitoring data matches the corresponding standard data interval, it is determined that there is no potential environmental risk;

[0021] Otherwise, it is determined that there is a potential environmental risk.

[0022] Preferably, a drone data processing and control system for environmental risk perception in a complex environment, a verification unit, comprises:

[0023] The coding management library retrieval subunit is used to transmit the data communication code of the UAV to the control center for reading, and retrieve the coding management library in the control center;

[0024] A matching subunit is used to transmit the data communication code of the UAV to the code management library for matching, and to determine whether the data communication code of the UAV exists in the code management library;

[0025] If the data communication code of the drone does not exist in the code management library, it is determined that the data communication code of the drone has not passed the verification;

[0026] If the data communication code of the drone exists in the code management library, it is determined that the data communication code of the drone has passed the verification.

[0027] Preferably, a drone data processing and control system, marking and decision-making module for environmental risk perception in complex environments includes:

[0028] A marking unit, used to read the analysis result, and when there is a potential environmental risk in the analysis result, read the environmental monitoring dimension corresponding to the potential environmental risk, and make a first mark on the environmental monitoring dimension;

[0029] At the same time, the location information of the monitoring area corresponding to the potential environmental risk is read, and the location information is marked for the second time;

[0030] The potential environmental risk is marked based on the first marking result and the second marking result;

[0031] The first marking result is read and transmitted to a preset decision library for first adaptation, and a decision strategy set corresponding to the first marking result is determined according to the first adaptation result;

[0032] The second marking result is subjected to a second adaptation in the decision strategy set, and the target environmental management decision strategy is determined according to the second matching result.

[0033] Preferably, a drone data processing and control system for environmental risk perception in a complex environment, a route layout module, includes:

[0034] A three-dimensional model building unit is used to collect three-dimensional point cloud data of the monitoring area during the power transmission and transformation construction period, and to build a three-dimensional regional model of the monitoring area based on the three-dimensional point cloud data;

[0035] A distribution point determination unit, used to obtain construction location distribution points and non-construction location distribution points during the power transmission and transformation construction period;

[0036] Division units for:

[0037] The construction location distribution points and the non-construction location distribution points are marked in the three-dimensional area model, and a first area boundary point set of the construction location distribution points and a second area boundary point set of the non-construction location distribution points are determined according to the marking results;

[0038] Dividing the three-dimensional region model into a first region model and a second region model according to the first region boundary point set and the second region boundary point set;

[0039] A first monitoring route construction unit, configured to construct a first monitoring route according to a first area model;

[0040] A second monitoring route construction unit, used to construct a second monitoring route according to the second area model;

[0041] The integration unit is used to integrate the first monitoring route with the second monitoring route to complete the layout of the drone monitoring route for the monitoring area.

[0042] Preferably, a drone data processing and control system for environmental risk perception in a complex environment, the first monitoring route construction unit includes:

[0043] The first regional model spatial information acquisition subunit is used to:

[0044] Acquire a first spatial structure feature in the first regional model and a plurality of first monitoring points in the first regional model;

[0045] Determine a first flight vector of the UAV according to the position information of the plurality of first monitoring points, and determine a flyable area of ​​the UAV according to the first spatial structure feature;

[0046] The first monitoring route generating subunit is used to determine a first monitoring route of the UAV in the first area model according to the first flight vector of the UAV and the flyable area of ​​the UAV.

[0047] Preferably, a drone data processing and control system for environmental risk perception in a complex environment, the second monitoring route construction unit comprises:

[0048] The area division subunit is used to:

[0049] Acquire a second spatial structure feature in the second regional model, and acquire a terrain distribution feature in the second regional model;

[0050] Obtaining a division requirement, and dividing the second regional model into multiple regions according to the division requirement and in combination with the second spatial structure feature and the terrain distribution feature;

[0051] Obtaining multiple second sub-region models according to the multi-region division result;

[0052] A flight vector adding subunit is used to obtain a plurality of second monitoring points in each sub-second area model, and add a second flight vector according to the position distribution state of the second monitoring points;

[0053] The second monitoring route generating subunit is used for:

[0054] Acquire the third spatial structure feature in each sub-second area model, and determine the flyable area of ​​the UAV in each sub-second area model according to the third spatial structure feature, and at the same time, obtain the sub-monitoring route of each sub-second area model according to the second flight vector and the flyable area in each sub-second area model;

[0055] The model position of each sub-second area model is obtained, and the third flight vector is added according to the model position of each sub-second area model, and the sub-monitoring route of each sub-second area model is integrated according to the third flight vector to obtain the second monitoring route.

[0056] Preferably, a drone data processing and control system for environmental risk perception in a complex environment, the integrated unit comprises:

[0057] A target associated point determination subunit, used to obtain the intersection of the first monitoring route and the second monitoring route, and determine the target associated point according to the intersection of the first monitoring route and the second monitoring route;

[0058] Route synthesis subunit, used to:

[0059] Connecting the first monitoring route with the second monitoring route according to the target association point, obtaining the positional relationship between the first monitoring route and the second monitoring route, and adding serial number tags to the first monitoring route and the second monitoring route according to the initial position of the drone;

[0060] The integration of the first monitoring route and the second monitoring route is completed according to the added result.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] By laying out drone monitoring routes for the monitoring area during the power transmission and transformation construction period, it is effectively ensured that the drones can efficiently and comprehensively patrol the monitoring area during the power transmission and transformation construction period. By collecting multi-dimensional environmental monitoring data through drones, the multi-dimensional environmental monitoring data can be effectively analyzed based on the control center, thereby effectively identifying potential environmental risks. By marking and generating target environmental management decision-making strategies, the perception and response capabilities of environmental risks in complex environments can be improved, which helps to improve the effectiveness and comprehensiveness of drone monitoring of the monitoring area during the power transmission and transformation construction period, thereby providing effective and accurate identification and decision-making for the perception of environmental risks in environmental management during the power transmission and transformation construction period.

[0063] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in this application document.

[0064] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0066] Figure 1 This is a structural diagram of a drone data processing and control system for environmental risk perception in a complex environment in an embodiment of the present invention;

[0067] Figure 2 This is a structural diagram of a monitoring module in a drone data processing and control system for environmental risk perception in a complex environment in an embodiment of the present invention;

[0068] Figure 3 This is a structural diagram of an analysis module in a drone data processing and control system for environmental risk perception in a complex environment in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0070] Embodiment 1:

[0071] This embodiment provides a data processing and control system for drones used for environmental risk perception in complex environments. Figure 1 As shown, including:

[0072] Route layout module, used to layout the monitoring route of the drone for the monitoring area;

[0073] The monitoring module is used to control the UAV to perform multi-dimensional environmental monitoring according to the monitoring route and obtain multi-dimensional environmental monitoring data;

[0074] An analysis module is used to transmit the multi-dimensional environmental monitoring data to the control center and analyze the multi-dimensional environmental monitoring data based on the control center;

[0075] The marking and decision-making module is used to determine potential environmental risks based on the analysis results and mark the potential environmental risks. At the same time, it determines the target environmental management decision strategy based on the marking results.

[0076] In this embodiment, the monitoring area is the area where the power transmission and transformation construction period is located.

[0077] In this embodiment, the monitoring route can be determined based on the regional spatial distribution characteristics of the monitoring area, etc., and is used to plan the route required for the flight of the drone, thereby ensuring the accurate operation of the drone.

[0078] In this embodiment, multi-dimensional environmental monitoring includes: vegetation monitoring, water and soil monitoring, temperature and humidity monitoring, dust monitoring, noise monitoring and wind monitoring.

[0079] In this embodiment, the control center is used to analyze multi-dimensional environmental monitoring data, thereby effectively identifying potential environmental risks.

[0080] In this embodiment, potential environmental risks can be determined based on multi-dimensional environmental monitoring data. When the multi-dimensional environmental monitoring data is not within the preset standard data range, it can be determined that there is a potential environmental risk. For example, if the environmental monitoring dimension is temperature monitoring, the temperature data is 35 degrees Celsius, and the standard data range is 20-30 degrees Celsius, so it can be determined that the temperature in the current monitoring area is a potential environmental risk.

[0081] In this embodiment, the marking may include marking the environmental monitoring dimensions where there are potential environmental risks and marking the location information of the potential environmental risks in the monitoring area.

[0082] In this embodiment, the target environmental management decision strategy can be adapted in a preset decision library based on the marking results, so as to obtain a target environmental management decision strategy that is adapted to the marking results, which is used as auxiliary decision support for potential environmental risks.

[0083] The working principle and beneficial effects of the above technical solution are: by arranging the monitoring routes of drones for the monitoring areas during the power transmission and transformation construction period, it is effectively ensured that the drones can efficiently and comprehensively patrol the monitoring areas during the power transmission and transformation construction period. By collecting multi-dimensional environmental monitoring data by drones, the multi-dimensional environmental monitoring data can be effectively analyzed based on the control center, thereby effectively identifying potential environmental risks. By marking and generating target environmental management decision-making strategies, the perception and response capabilities of environmental risks in complex environments can be improved, which helps to improve the effectiveness and comprehensiveness of drone monitoring of the monitoring areas during the power transmission and transformation construction period, thereby providing effective and accurate identification and decision-making for the perception of environmental risks in environmental management during the power transmission and transformation construction period.

[0084] Embodiment 2:

[0085] Based on Example 1, this embodiment provides a data processing and control system for drones used for environmental risk perception in complex environments. Figure 2 As shown, the monitoring module includes:

[0086] The configuration unit is used to read the environmental monitoring dimension and match the target monitoring sensor according to the environmental monitoring dimension. At the same time, it obtains the configuration requirements of the UAV and configures each target monitoring sensor on the UAV according to the configuration requirements of the UAV.

[0087] The control unit is used to read the monitoring route and control the configured drone to perform multi-dimensional monitoring according to the monitoring route. The multi-dimensional monitoring includes: vegetation monitoring, water and soil monitoring, temperature and humidity monitoring, dust monitoring, noise monitoring and wind monitoring;

[0088] The data acquisition unit is used to obtain environmental monitoring data based on multi-dimensional monitoring results.

[0089] In this embodiment, the configuration requirements may be set in advance to implement the configuration of the target sensor, such as the installation location of the sensor, the calibration and debugging of the sensor, and the connection and data transmission between the sensor and the drone.

[0090] In this embodiment, the environment monitoring dimension matching target monitoring sensor may be determined according to the attributes of different monitoring dimensions to determine different monitoring sensors.

[0091] The beneficial effects of the above technical solution are: by using drones to conduct multi-dimensional monitoring along specific routes, a larger area can be quickly covered, more comprehensive environmental information can be obtained, and the limitations of traditional monitoring methods can be avoided; the specific location and type of environmental problems can be discovered more accurately, making it easier to take targeted measures; sensors and drones can be flexibly configured according to environmental monitoring dimensions and configuration requirements, which can adapt to a variety of complex monitoring environments and mission requirements.

[0092] Embodiment 3:

[0093] Based on Example 1, this embodiment provides a data processing and control system for drones used for environmental risk perception in complex environments. Figure 3 As shown, the analysis module includes:

[0094] A verification unit, used to obtain the data communication code of the drone and verify the data communication code of the drone based on the control center;

[0095] A data receiving and reading unit is used to receive and read the multi-dimensional environmental monitoring data based on the control center when the verification is passed, and determine the data distribution status of each dimension of the multi-dimensional environmental monitoring data;

[0096] Environmental risk assessment unit, used for:

[0097] Obtain the standard data interval for each environmental monitoring dimension, and compare the data distribution status of each dimension of environmental monitoring data with the corresponding standard data interval to determine whether there is a potential environmental risk;

[0098] If the data distribution status of the dimension monitoring data matches the corresponding standard data interval, it is determined that there is no potential environmental risk;

[0099] Otherwise, it is determined that there is a potential environmental risk.

[0100] In this embodiment, the data communication code may be coding information such as the model of the drone and the address of data transmission.

[0101] In this embodiment, the data distribution state is the data change interval of the dimensional environment detection data corresponding to the environmental monitoring dimension.

[0102] In this embodiment, the standard data interval can be an interval that indicates the absence of environmental risks. One environmental monitoring dimension corresponds to a standard data interval, which is used to measure whether the data distribution status of the actual monitored dimensional environmental monitoring data corresponding to each environmental monitoring dimension has a potential environmental risk.

[0103] The working principle and beneficial effects of the above technical solution are: by obtaining the data communication code of the UAV, the data communication code of the UAV can be effectively verified based on the control center, thereby ensuring the reliability of data transmission, and the control center can effectively analyze the multi-dimensional environmental monitoring data to realize the identification of potential environmental risks, thereby improving the accuracy and effectiveness of identification.

[0104] Embodiment 4:

[0105] Based on Example 3, this embodiment provides a drone data processing and control system for environmental risk perception in a complex environment, and the verification unit includes:

[0106] The coding management library retrieval subunit is used to transmit the data communication code of the UAV to the control center for reading, and retrieve the coding management library in the control center;

[0107] A matching subunit is used to transmit the data communication code of the UAV to the code management library for matching, and to determine whether the data communication code of the UAV exists in the code management library;

[0108] If the data communication code of the drone does not exist in the code management library, it is determined that the data communication code of the drone has not passed the verification;

[0109] If the data communication code of the drone exists in the code management library, it is determined that the data communication code of the drone has passed the verification.

[0110] In this embodiment, the coding management library may be set in advance by the control center and used to store the data communication codes of all authorized drones.

[0111] The working principle and beneficial effect of the above technical solution are: by matching the data communication code of the drone with the code management library, the data communication code verification of the drone is effectively realized, thereby improving the accuracy and convenience of the verification.

[0112] Embodiment 5:

[0113] Based on Example 1, this embodiment provides a drone data processing and control system for environmental risk perception in a complex environment, a marking and decision-making module, including:

[0114] A marking unit, used to read the analysis result, and when there is a potential environmental risk in the analysis result, read the environmental monitoring dimension corresponding to the potential environmental risk, and make a first mark on the environmental monitoring dimension;

[0115] At the same time, the location information of the monitoring area corresponding to the potential environmental risk is read, and the location information is marked for the second time;

[0116] The potential environmental risk is marked based on the first marking result and the second marking result;

[0117] The first marking result is read and transmitted to a preset decision library for first adaptation, and a decision strategy set corresponding to the first marking result is determined according to the first adaptation result;

[0118] The second marking result is subjected to a second adaptation in the decision strategy set, and the target environmental management decision strategy is determined according to the second matching result.

[0119] In this embodiment, the preset strategy library may be pre-set, including: all environmental monitoring dimensions and decision strategies existing at the location of the corresponding monitoring area.

[0120] In this embodiment, the first mark may be the result of marking the environmental monitoring dimension that has potential environmental risks.

[0121] In this embodiment, the second mark may be the result of marking the location information of the corresponding monitoring area in the potential environmental risk.

[0122] In this embodiment, the preset decision library can be set in advance and include a set of decision strategies corresponding to the existence of corresponding potential environmental risks in all environmental monitoring dimensions, wherein the decision strategy set includes specific decision strategies corresponding to different monitoring areas.

[0123] The working principle and beneficial effects of the above technical solution are: first, the environmental monitoring dimensions corresponding to the potential environmental risks are read and marked for the first time. At the same time, the location information of the monitoring area corresponding to the front-line environmental risks is marked for the second time, and then the first mark and the second mark can be effectively matched in the preset decision library. Secondly, by performing the first match in the preset decision library, the decision strategy set corresponding to the first marking result is effectively obtained, and then the second adaptation is effectively performed in the decision strategy set through the second marking result, so as to ensure the effectiveness and accuracy of the obtained target environmental management decision strategy, thereby providing a theoretical basis for the subsequent management of potential environmental risks.

[0124] Embodiment 6:

[0125] Based on Example 1, this embodiment provides a drone data processing and control system for environmental risk perception in a complex environment, and a route layout module, including:

[0126] A three-dimensional model building unit is used to collect three-dimensional point cloud data of the monitoring area during the power transmission and transformation construction period, and to build a three-dimensional regional model of the monitoring area based on the three-dimensional point cloud data;

[0127] A distribution point determination unit, used to obtain construction location distribution points and non-construction location distribution points during the power transmission and transformation construction period;

[0128] Division units for:

[0129] The construction location distribution points and the non-construction location distribution points are marked in the three-dimensional area model, and a first area boundary point set of the construction location distribution points and a second area boundary point set of the non-construction location distribution points are determined according to the marking results;

[0130] Dividing the three-dimensional region model into a first region model and a second region model according to the first region boundary point set and the second region boundary point set;

[0131] A first monitoring route construction unit, configured to construct a first monitoring route according to a first area model;

[0132] A second monitoring route construction unit, used to construct a second monitoring route according to the second area model;

[0133] The integration unit is used to integrate the first monitoring route with the second monitoring route to complete the layout of the drone monitoring route for the monitoring area.

[0134] In this embodiment, the first area boundary point set may be a boundary point set of construction location distribution points.

[0135] In this embodiment, the second area boundary point set may be a combination of boundary points of non-construction location distribution points.

[0136] The working principle and beneficial effects of the above technical solution are: by determining the construction location distribution points and non-construction location distribution points during the power transmission and transformation construction period, and marking them in the three-dimensional regional model, the first area boundary point set and the second area boundary point set can be effectively determined, and then the first area model and the second area model can be effectively determined in the three-dimensional regional model. By constructing the corresponding first monitoring route and second monitoring route in the first area model and the second area respectively, the layout of the drone monitoring route in the monitoring area is realized, thereby effectively improving the comprehensiveness and feasibility of the drone monitoring route layout.

[0137] Embodiment 7:

[0138] Based on Example 6, this embodiment provides a drone data processing and control system for environmental risk perception in a complex environment, and the first monitoring route construction unit includes:

[0139] The first regional model spatial information acquisition subunit is used to:

[0140] Acquire a first spatial structure feature in the first regional model and a plurality of first monitoring points in the first regional model;

[0141] Determine a first flight vector of the UAV according to the position information of the plurality of first monitoring points, and determine a flyable area of ​​the UAV according to the first spatial structure feature;

[0142] The first monitoring route generating subunit is used to determine a first monitoring route of the UAV in the first area model according to the first flight vector of the UAV and the flyable area of ​​the UAV.

[0143] In this embodiment, the first spatial structure feature may be features such as spatial layout, geometric shape, etc. in the first area model. Features such as spatial layout, geometric shape, etc. may be used to effectively determine the flyable area of ​​the UAV at the construction location, thereby ensuring the safety of the UAV.

[0144] In this embodiment, the first monitoring point may be a monitoring position determined in the first area model according to actual monitoring requirements (monitoring area, etc.).

[0145] In this embodiment, the first flight vector may be the direction in which the UAV flies determined based on the position information of the first monitoring point.

[0146] The working principle and beneficial effects of the above technical solution are: by determining the first spatial structure characteristics of the first area model, the flyable area of ​​the UAV can be effectively determined, by determining multiple first monitoring points of the first area model, the first flight vector of the UAV can be effectively determined, and the first monitoring route of the UAV in the first area model can be effectively determined through the first flight vector and the flyable area without human intervention, thereby improving the effectiveness and accuracy of determining the first monitoring route.

[0147] Embodiment 8:

[0148] Based on Example 6, this embodiment provides a drone data processing and control system for environmental risk perception in a complex environment, and the second monitoring route construction unit includes:

[0149] The area division subunit is used to:

[0150] Acquire a second spatial structure feature in the second regional model, and acquire a terrain distribution feature in the second regional model;

[0151] Obtaining a division requirement, and dividing the second regional model into multiple regions according to the division requirement and in combination with the second spatial structure feature and the terrain distribution feature;

[0152] Obtaining multiple second sub-region models according to the multi-region division result;

[0153] A flight vector adding subunit is used to obtain a plurality of second monitoring points in each sub-second area model, and add a second flight vector according to the position distribution state of the second monitoring points;

[0154] The second monitoring route generating subunit is used for:

[0155] Acquire the third spatial structure feature in each sub-second area model, and determine the flyable area of ​​the UAV in each sub-second area model according to the third spatial structure feature, and at the same time, obtain the sub-monitoring route of each sub-second area model according to the second flight vector and the flyable area in each sub-second area model;

[0156] The model position of each sub-second area model is obtained, and the third flight vector is added according to the model position of each sub-second area model, and the sub-monitoring route of each sub-second area model is integrated according to the third flight vector to obtain the second monitoring route.

[0157] In this embodiment, the second spatial structure feature may be a feature of the spatial structure in the second region model, such as spatial layout, geometric shape, etc.

[0158] In this embodiment, the terrain distribution feature may be the distribution of terrain aspects in the second area model, such as terrain undulation, landform type, and the like.

[0159] In this embodiment, the second monitoring point may be a monitoring position determined in the sub-second area model according to actual monitoring requirements (monitoring area, etc.).

[0160] In this embodiment, the second flight vector may be the direction in which the UAV flies within the sub-second area model determined based on the position information of the second monitoring point.

[0161] In this embodiment, the third spatial structural feature may be the state of the spatial layout and geometric shape in each sub-second region model.

[0162] In this embodiment, the third flight vector may be the flight direction of the drone passing through each sub-second area model.

[0163] In this embodiment, the sub-monitoring route may be a flight route of the drone within the sub-second area model.

[0164] In this embodiment, the second monitoring route may be a monitoring route obtained by integrating the third flight vector with a plurality of sub-monitoring routes.

[0165] The working principle and beneficial effects of the above technical solution are: by obtaining the second spatial structure feature in the second regional model and obtaining the terrain distribution feature in the second regional model, by obtaining the division requirements, and dividing the second regional model into multiple regions according to the division requirements and in combination with the second spatial structure feature and the terrain distribution feature, a plurality of sub-second regional models are obtained, thereby adding a second flight vector through a plurality of second monitoring points in each sub-second regional model, by obtaining the third spatial structure feature in each sub-second regional model, and determining the flyable area of ​​the UAV in each sub-second regional model according to the third spatial structure feature, thereby facilitating obtaining the sub-monitoring route of each sub-second regional model according to the second flight vector and the flyable area in each sub-second regional model, by obtaining the model position of each sub-second regional model, and adding the third flight vector according to the model position of each sub-second regional model, the sub-monitoring route of each sub-second regional model is integrated according to the third flight vector to obtain the second monitoring route, and the acquisition of the second monitoring route is effectively realized, and the accuracy and comprehensiveness of the obtained second monitoring route can be effectively guaranteed by dividing into different sub-second regional models for planning and integrating the monitoring routes.

[0166] Embodiment 9:

[0167] Based on Example 6, this embodiment provides a drone data processing and control system for environmental risk perception in a complex environment, and the integrated unit includes:

[0168] A target associated point determination subunit, used to obtain the intersection of the first monitoring route and the second monitoring route, and determine the target associated point according to the intersection of the first monitoring route and the second monitoring route;

[0169] Route synthesis subunit, used to:

[0170] Connecting the first monitoring route with the second monitoring route according to the target association point, obtaining the positional relationship between the first monitoring route and the second monitoring route, and adding serial number tags to the first monitoring route and the second monitoring route according to the initial position of the drone;

[0171] The integration of the first monitoring route and the second monitoring route is completed according to the added result.

[0172] In this embodiment, the target associated point may be an intersection point of the first monitoring route and the second monitoring route.

[0173] In this embodiment, serial number labels are added to the first monitoring route and the second monitoring route according to the initial position of the drone, that is, if the drone is at the starting point of the first monitoring route, the serial number labels are the first monitoring route as first and the second monitoring route as second; if the drone is at the starting point of the second monitoring route, the serial number labels are the second monitoring route as second and the first monitoring route as first, wherein the serial number labels are the added order identifiers, for example, may be "first" or "second".

[0174] The working principle and beneficial effects of the above technical solution are: by obtaining the intersection of the first monitoring route and the second monitoring route, the target correlation point of the first monitoring route and the second monitoring route can be effectively obtained, and the connection between the first monitoring route and the second monitoring route can be effectively realized; by adding serial number tags to the first monitoring route and the second monitoring route, the integration of the first monitoring route and the second monitoring route can be effectively realized, thereby ensuring that the drone can efficiently and comprehensively patrol the monitoring area during the power transmission and transformation construction period.

[0175] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A drone data processing and control system for environmental risk perception in complex environments, characterized in that: include: Route layout module, used to layout the monitoring route of the drone for the monitoring area; The monitoring module is used to control the UAV to perform multi-dimensional environmental monitoring according to the monitoring route and obtain multi-dimensional environmental monitoring data; An analysis module is used to transmit the multi-dimensional environmental monitoring data to the control center and analyze the multi-dimensional environmental monitoring data based on the control center; The marking and decision-making module is used to determine potential environmental risks based on the analysis results, mark the potential environmental risks, and determine the target environmental management decision strategy based on the marking results; Route layout module, including: A three-dimensional model building unit is used to collect three-dimensional point cloud data of the monitoring area during the power transmission and transformation construction period, and to build a three-dimensional regional model of the monitoring area based on the three-dimensional point cloud data; A distribution point determination unit, used to obtain construction location distribution points and non-construction location distribution points during the power transmission and transformation construction period; Division units for: The construction location distribution points and the non-construction location distribution points are marked in the three-dimensional area model, and a first area boundary point set of the construction location distribution points and a second area boundary point set of the non-construction location distribution points are determined according to the marking results; Dividing the three-dimensional region model into a first region model and a second region model according to the first region boundary point set and the second region boundary point set; A first monitoring route construction unit, configured to construct a first monitoring route according to a first area model; A second monitoring route construction unit, used to construct a second monitoring route according to the second area model; A comprehensive unit, used to combine the first monitoring route with the second monitoring route to complete the layout of the drone's monitoring route for the monitoring area; The second monitoring route construction unit includes: The area division subunit is used to: Acquire a second spatial structure feature in the second regional model, and acquire a terrain distribution feature in the second regional model; Obtaining a division requirement, and dividing the second regional model into multiple regions according to the division requirement and in combination with the second spatial structure feature and the terrain distribution feature; Obtaining multiple second sub-region models according to the multi-region division result; A flight vector adding subunit is used to obtain a plurality of second monitoring points in each sub-second area model, and add a second flight vector according to the position distribution state of the second monitoring points; The second monitoring route generating subunit is used for: Acquire the third spatial structure feature in each sub-second area model, and determine the flyable area of ​​the UAV in each sub-second area model according to the third spatial structure feature, and at the same time, obtain the sub-monitoring route of each sub-second area model according to the second flight vector and the flyable area in each sub-second area model; The model position of each sub-second area model is obtained, and the third flight vector is added according to the model position of each sub-second area model, and the sub-monitoring route of each sub-second area model is integrated according to the third flight vector to obtain the second monitoring route.

2. According to claim 1, a drone data processing and control system for environmental risk perception in complex environments is characterized in that: Monitoring modules, including: A configuration unit is used to read the environmental monitoring dimension and match the target monitoring sensor according to the environmental monitoring dimension. At the same time, it obtains the configuration requirements of the UAV and configures each target monitoring sensor on the UAV according to the configuration requirements of the UAV. The control unit is used to read the monitoring route and control the configured drone to perform multi-dimensional monitoring according to the monitoring route. The multi-dimensional monitoring includes: vegetation monitoring, water and soil monitoring, temperature and humidity monitoring, dust monitoring, noise monitoring and wind monitoring; The data acquisition unit is used to obtain environmental monitoring data based on multi-dimensional monitoring results.

3. The UAV data processing and control system for environmental risk perception in complex environments according to claim 1 is characterized in that: Analysis modules, including: A verification unit, used to obtain the data communication code of the drone and verify the data communication code of the drone based on the control center; A data receiving and reading unit is used to receive and read the multi-dimensional environmental monitoring data based on the control center when the verification is passed, and determine the data distribution status of each dimension of the multi-dimensional environmental monitoring data; Environmental risk assessment unit, used for: Obtain the standard data interval for each environmental monitoring dimension, and compare the data distribution status of each dimension of environmental monitoring data with the corresponding standard data interval to determine whether there is a potential environmental risk; If the data distribution status of the dimension monitoring data matches the corresponding standard data interval, it is determined that there is no potential environmental risk; Otherwise, it is determined that there is a potential environmental risk.

4. The UAV data processing and control system for environmental risk perception in complex environments according to claim 3 is characterized in that: Verification unit, including: The coding management library retrieval subunit is used to transmit the data communication code of the UAV to the control center for reading, and retrieve the coding management library in the control center; A matching subunit is used to transmit the data communication code of the UAV to the code management library for matching, and to determine whether the data communication code of the UAV exists in the code management library; If the data communication code of the drone does not exist in the code management library, it is determined that the data communication code of the drone has not passed the verification; If the data communication code of the drone exists in the code management library, it is determined that the data communication code of the drone has passed the verification.

5. The UAV data processing and control system for environmental risk perception in complex environments according to claim 1 is characterized in that: Marking and decision modules, including: A marking unit, used to read the analysis result, and when there is a potential environmental risk in the analysis result, read the environmental monitoring dimension corresponding to the potential environmental risk, and make a first mark on the environmental monitoring dimension; At the same time, the location information of the monitoring area corresponding to the potential environmental risk is read, and the location information is marked for the second time; The potential environmental risk is marked based on the first marking result and the second marking result; The first marking result is read and transmitted to a preset decision library for first adaptation, and a decision strategy set corresponding to the first marking result is determined according to the first adaptation result; The second marking result is subjected to a second adaptation in the decision strategy set, and the target environmental management decision strategy is determined according to the second matching result.

6. The drone data processing and control system for environmental risk perception in complex environments according to claim 1 is characterized in that: The first monitoring route construction unit includes: The first regional model spatial information acquisition subunit is used to: Acquire a first spatial structure feature in the first regional model and a plurality of first monitoring points in the first regional model; Determine a first flight vector of the UAV according to the position information of the plurality of first monitoring points, and determine a flyable area of ​​the UAV according to the first spatial structure feature; The first monitoring route generating subunit is used to determine a first monitoring route of the UAV in the first area model according to the first flight vector of the UAV and the flyable area of ​​the UAV.

7. The UAV data processing and control system for environmental risk perception in complex environments according to claim 1 is characterized in that: Comprehensive unit including: A target associated point determination subunit, used to obtain the intersection of the first monitoring route and the second monitoring route, and determine the target associated point according to the intersection of the first monitoring route and the second monitoring route; Route synthesis subunit, used to: Connecting the first monitoring route with the second monitoring route according to the target association point, obtaining the positional relationship between the first monitoring route and the second monitoring route, and adding serial number tags to the first monitoring route and the second monitoring route according to the initial position of the drone; The integration of the first monitoring route and the second monitoring route is completed according to the added result.

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