High-speed unmanned inspection cluster task scheduling method, system and equipment based on double-trigger mechanism

Abstract

The invention provides a high-speed unmanned inspection cluster task scheduling method, system and equipment based on a double-trigger mechanism, which constructs a trigger set and designs the double-trigger mechanism of time and events based on task information and environment information, can perform global time triggering, relative time triggering associated with events and single or multiple event triggering, and can perform task scheduling on the basis of the task information and the environment information. And unmanned cluster full-autonomous task scheduling in a complex environment is realized. A double-trigger mechanism can be expanded into a multiple-trigger mechanism, and judgment of multiple-trigger conditions is carried out through relevance between the trigger mechanisms. And the state of the current task is adjusted based on the judgment result, and the corresponding next task is called through the adjusted state, so that task scheduling under multiple triggering conditions is realized. The complexity of triggering condition judgment is reduced, and resource consumption is reduced. And the task transfer is more flexible and efficient.

Description

Technical Field

[0001] The present application relates to the field of unmanned patrol cluster decision-making technology, and in particular to a high-speed unmanned patrol cluster task scheduling method, system, and device based on a dual-trigger mechanism. Background Art

[0002] Unmanned swarms have important applications in typical scenarios such as fire rescue, disaster search and rescue, regional logistics, and unmanned inspections. In disaster scenarios such as fires, floods, or earthquakes, unmanned swarms can maneuver quickly, have a wide field of vision, and are not restricted by terrain. They can perform auxiliary rescue tasks such as high-altitude surveys and material transportation, find trapped people, and reduce the risk of people entering the disaster area to a certain extent. In the inspection of highways and bridges, unmanned swarms are not restricted by ground factors and personnel factors, and can better carry out daily inspections and fixed-point surveys. The complex and changing application scenarios also put forward higher requirements for unmanned swarm decision-making.

[0003] Most existing decision-making methods in complex scenarios are initial decision plus manual scheduling, that is, decisions are made based on initial requirements and cluster information to obtain task scheduling. If an emergency occurs during the execution of the task, manual task scheduling is used to deal with the emergency, which cannot achieve fully autonomous decision-making in complex application scenarios.

[0004] Therefore, there is an urgent need for a high-speed unmanned inspection cluster task scheduling method, system, and equipment based on a dual-trigger mechanism. Summary of the invention

[0005] The present invention proposes a high-speed unmanned inspection cluster task scheduling method, system, and device based on a dual trigger mechanism. Based on task information and environmental information, a trigger set is constructed, and a dual trigger mechanism of time and event is designed. Global time triggering, relative time triggering associated with events, and single or multiple event triggering can be performed to realize fully autonomous task scheduling of unmanned clusters in complex environments. The specific technical solution is as follows:

[0006] In a first aspect, the present invention provides a high-speed unmanned inspection cluster task scheduling method based on a dual trigger mechanism, the method comprising:

[0007] The trigger detection is used to detect whether there is a preset trigger mechanism in the environment, and the trigger mechanism is a condition that triggers the change of the state of the unmanned inspection cluster; the trigger mechanism includes a time trigger mechanism and an event trigger mechanism;

[0008] When a trigger condition of a trigger mechanism is detected, the state of the current task is adjusted to a preset state corresponding to the trigger condition, and the preset state is used as the state of the current task of the unmanned inspection cluster; the trigger mechanism that meets the trigger condition is called a triggered mechanism, and each task has multiple states;

[0009] The current task is continued to be executed based on the adjusted state of the current task, and when the current task is finished, the corresponding next task is mobilized based on the completed task and its state executed by the unmanned inspection cluster.

[0010] In another embodiment of the present invention, after the triggering condition of a triggering mechanism is detected to be satisfied, the method further includes:

[0011] If the triggered mechanism has an associated triggering mechanism, then an associated triggering detection is performed based on the triggered mechanism and the state of the current task of the unmanned inspection cluster after being triggered; the associated triggering detection is a detection of the triggering mechanism associated with the triggered mechanism, and the triggering mechanism associated with the triggered mechanism is called the associated triggering mechanism;

[0012] When it is detected that the association trigger condition of the association trigger mechanism is met, the state of the current task is adjusted to a preset association state corresponding to the association trigger condition, and the preset association state is used as the state of the current task of the unmanned inspection cluster.

[0013] In another embodiment of the present invention, after the triggering condition of a triggering mechanism is detected to be satisfied, and before the state of the current task of the unmanned inspection cluster based on the triggered mechanism and after being triggered, it also includes:

[0014] Detecting whether the triggered mechanism has the associated triggering mechanism;

[0015] If the associated trigger mechanism does not exist, continue to perform trigger detection;

[0016] If the association trigger mechanism exists, the association trigger detection is performed.

[0017] In another embodiment of the present invention, before triggering detection under the current task of the unmanned inspection cluster, the method further includes:

[0018] Detecting whether there is a trigger configuration, where the trigger configuration is a set of trigger conditions corresponding to the trigger mechanism;

[0019] If the trigger configuration exists, performing the trigger detection;

[0020] If the trigger configuration does not exist, the state of the current task continues.

[0021] In another embodiment of the present invention, the trigger detection under the current task of the unmanned inspection cluster includes: detecting corresponding conditions of the trigger mechanism in a preset order.

[0022] In another embodiment of the present invention, the trigger mechanism includes a time trigger mechanism, and the trigger conditions corresponding to the time trigger mechanism are a global time trigger condition and an interval time trigger condition.

[0023] In another embodiment of the present invention, the trigger mechanism includes an event trigger mechanism, and the trigger conditions corresponding to the event trigger mechanism are multiple preset event conditions.

[0024] In a second aspect, the present invention further provides a high-speed unmanned inspection cluster based on a dual trigger mechanism, wherein the unmanned inspection cluster is provided with a control system, and the control system controls the unmanned inspection cluster by the method described in any of the above embodiments.

[0025] In a third aspect, the present invention further provides a high-speed unmanned inspection cluster task scheduling control system based on a dual trigger mechanism, the control system comprising: a trigger detection unit, a state adjustment unit, and a task mobilization unit;

[0026] The trigger detection unit is used to detect whether there is a preset trigger mechanism in the environment, and the trigger mechanism is a condition that triggers the change of the state of the unmanned inspection cluster; the trigger mechanism includes a time trigger mechanism and an event trigger mechanism;

[0027] The state adjustment unit is used to adjust the state of the current task to a preset state corresponding to the trigger condition when a trigger condition of a trigger mechanism is detected, and use the preset state as the state of the current task of the unmanned inspection cluster; the trigger mechanism that meets the trigger condition is called a triggered mechanism, and each task has multiple states;

[0028] The task mobilization unit is used to continue executing the current task based on the adjusted state of the current task, and when the current task ends, mobilize the corresponding next task based on the task executed by the unmanned inspection cluster and its state.

[0029] In a fourth aspect, the present invention further provides an electronic device, the electronic device being mounted on an unmanned inspection cluster, the device comprising a processor and a memory electrically connected to the processor, the memory being used to store a computer program, and the processor being used to call the computer program to perform the following steps:

[0030] The trigger detection is used to detect whether there is a preset trigger mechanism in the environment, and the trigger mechanism is a condition that triggers the change of the state of the unmanned inspection cluster; the trigger mechanism includes a time trigger mechanism and an event trigger mechanism;

[0031] When a trigger condition of a trigger mechanism is detected, the state of the current task is adjusted to a preset state corresponding to the trigger condition, and the preset state is used as the state of the current task of the unmanned inspection cluster; the trigger mechanism that meets the trigger condition is called a triggered mechanism, and each task has multiple states;

[0032] The current task is continued to be executed based on the adjusted state of the current task, and when the current task is finished, the corresponding next task is mobilized based on the completed task and its state executed by the unmanned inspection cluster.

[0033] The beneficial effects of the present invention are as follows:

[0034] The present invention proposes a high-speed unmanned inspection cluster task scheduling method, system, and device based on a dual trigger mechanism. Based on task information and environmental information, a trigger set is constructed, and a dual trigger mechanism of time and event is designed. Global time triggering, relative time triggering associated with events, and single or multiple event triggering can be performed to achieve fully autonomous task scheduling of unmanned clusters in complex environments. The dual trigger mechanism can be expanded to a multiple trigger mechanism, and multiple trigger conditions are judged through the correlation between the trigger mechanisms. The state of the current task is adjusted based on the judgment result, and the corresponding next task is mobilized through the adjusted state, thereby realizing task scheduling with multiple trigger conditions. The complexity of trigger condition judgment is reduced, and resource consumption is reduced. The mobilization of tasks is made more flexible and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the event triggering composition in the present invention;

[0036] Figure 2 It is a schematic diagram of the time trigger composition in the present invention;

[0037] Figure 3 It is a brief flow chart of the present invention;

[0038] Figure 4 It is a detailed flow chart of the present invention;

[0039] Figure 5 It is a schematic diagram of the implementation steps of a high-speed unmanned inspection cluster task scheduling method based on a double trigger mechanism in the present invention;

[0040] Figure 6 This is the fire rescue example process 1 in the present invention;

[0041] Figure 7 This is the fire rescue example process 2 of the present invention;

[0042] Figure 8 This is the fire rescue example process 3 in the present invention;

[0043] Fig. 9 It is an overall simulation diagram of fire rescue in the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of this specification clearer, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and their corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this document.

[0045] The following combination Figure 1 , describes in detail the technical solutions provided by each embodiment of this specification. Specific embodiment 1:

[0047] A high-speed unmanned patrol cluster task scheduling method based on a dual-trigger mechanism is applied to unmanned patrol clusters, which include but are not limited to remote control equipment such as drones and unmanned vehicles.

[0048] The unmanned inspection cluster performs the corresponding tasks according to the received commands. In the process of executing the tasks, various emergencies may be encountered, and it is necessary to perform corresponding task scheduling for the unmanned inspection cluster according to various conditions. Since the subjects of various task executions may be different, the conventional task scheduling method is extremely complex, the task triggering logic is complex, and the coordination between tasks is extremely difficult. For this reason, the present invention is provided. In this embodiment, S is used to number the steps, and N is used to number the options in each step.

[0049] During the execution of the task, the S100 unmanned inspection cluster detects in real time whether there is a trigger configuration, where the trigger configuration is a set of trigger conditions corresponding to the trigger mechanism;

[0050] N101: If the trigger configuration exists, then the trigger detection is performed (S200);

[0051] N102 If the trigger configuration does not exist, continue the state of the current task (S100).

[0052] By detecting the trigger configuration, the detection of various conditions is avoided and the detection scope is reduced. This allows the unmanned inspection cluster to avoid the consumption of various condition detections during the execution of tasks, thereby improving the efficiency of task execution.

[0053] S200 performs trigger detection under the current task of the unmanned inspection cluster, and detects all trigger conditions corresponding to all trigger mechanisms in sequence. The trigger detection includes multiple trigger mechanisms, and each trigger mechanism corresponds to a condition for changing the current state of the unmanned inspection cluster.

[0054] N20, if a trigger condition is detected, adjusts the state of the current task to a preset state corresponding to the trigger condition, and uses the preset state as the state of the current task of the unmanned inspection cluster. And executes step S300. The trigger mechanism that meets the trigger condition is called a triggered mechanism, and each task has multiple states.

[0055] If N202 fails to detect the trigger condition, return to S100.

[0056] S300 detects whether the triggered mechanism has the associated triggering mechanism.

[0057] N301 If the associated trigger mechanism does not exist, continue to perform trigger detection and detect the next trigger condition, that is, execute step S200.

[0058] N302 If the association trigger mechanism exists, then perform the association trigger detection S400.

[0059] S400: Association trigger detection: Based on the triggered mechanism and the state of the current task of the unmanned inspection cluster after being triggered, association trigger detection is performed; the association trigger detection is a detection of the trigger mechanism associated with the triggered mechanism, and the trigger mechanism associated with the triggered mechanism is called an association trigger mechanism.

[0060] N401 When it is detected that the association trigger condition of the association trigger mechanism is met, the state of the current task is adjusted to a preset association state corresponding to the association trigger condition, and the preset association state is used as the state of the current task of the unmanned inspection cluster.

[0061] N402 If the associated trigger condition corresponding to the associated trigger mechanism is not detected, then continue the trigger detection to detect the next trigger condition, that is, execute step S200.

[0062] In the above steps, if the trigger mechanism is triggered and the corresponding state is determined based on the trigger condition corresponding to the trigger mechanism, the task state of the unmanned inspection cluster is adjusted to the corresponding state and the corresponding task is executed, so that the loop can be temporarily jumped out and the next trigger condition is waited for.

[0063] The current task is continued to be executed based on the adjusted state of the current task, and when the current task is finished, the corresponding next task is mobilized based on the completed task and its state executed by the unmanned inspection cluster. Specific embodiment 2:

[0065] Specific embodiment 2 is a further detailed discussion of specific embodiment 1. On the basis of specific embodiment 1, event trigger components and time trigger components are introduced, and the correlation between event trigger and time trigger is discussed in detail. The specific technical solution is as follows:

[0066] S1: Building an event trigger structure

[0067] The event trigger structure consists of: event trigger number, detection task, validity, event trigger condition, event trigger result, whether there is a time association, and trigger event record.

[0068] The event trigger number eventTriggerID is the identifier of each event trigger, eventTriggerID = 1, 2, ... eventNum, and the number of events set for the task is eventNum. The detection task taskID is the task number for detecting whether this event is triggered.

[0069] IsValid is used to identify whether it can still be triggered. 0 means invalid and 1 means valid.

[0070] The event trigger condition is the status of the detection task, and the specific content is determined by the application scenario and task requirements.

[0071] The event triggering results include changing the status of the detection task and changing the status of other tasks.

[0072] Is there a time association? isTimeLink is used to identify whether this event is associated with a time trigger. 0 means no association, and there is no need to record the trigger time; 1 means association, and the trigger time needs to be recorded.

[0073] The trigger time record triggerTime can be used together with the time trigger. When the event is not triggered, it is -1. When the event is triggered, the global time of the triggering moment is recorded. Whether to record it depends on whether there is a time association isTimeLink.

[0074] The valid trigger count validNum is the number of times this event can be effectively triggered, and can be used to set single trigger events and multiple trigger events.

[0075] The schematic diagram of event triggering is as follows Figure 1 shown.

[0076] S2: Building a time-triggered structure

[0077] The time trigger structure consists of: time trigger number, detection task, whether it is valid, time trigger condition, time trigger result, whether there is an event association and the associated event number.

[0078] The time trigger ID timeTriggerID is the identifier of each time trigger, timeTriggerID = 1, 2, ... timeNum, and the number of time triggers set for the task is timeNum. The detection task taskID is the task ID for detecting whether this time trigger structure is triggered.

[0079] IsValid indicates whether it can be triggered, 0 means invalid, 1 means valid.

[0080] There are two types of time trigger conditions. One is the global time globalTime, which is the time starting from the set time 0. If the current time nowTime>=globalTime, it will be triggered; the other is the interval time gapTime. If the difference between the current time nowTime and the set reference time setTime is greater than the interval time, it will be triggered, that is, nowTime-setTime>=gapTime.

[0081] Whether there is an event association isEventLink indicates whether there is an associated event. 0 means that there is no event association, the associated event number is set to -1, and a global time judgment is performed without an interval time judgment. 1 means that there is an event association, then no global time judgment is performed, and an interval time judgment is performed. The time base setTime for the judgment is the trigger time of the associated event.

[0082] The associated event number eventID represents the event trigger number associated with this time trigger. If there is no event association, that is, isEventLink is 0, eventID is -1; if there is an event association, that is, isEventLink is 1, eventID is the set event number, and its trigger time is the time base of this time trigger judgment condition.

[0083] The schematic diagram of time trigger composition is as follows Figure 2 shown.

[0084] S3: Configure triggers based on demand

[0085] According to the application scenario and task requirements, set the number of event triggers and time triggers eventNum and timeNum to number each event trigger and time trigger, and set the detection task, validity, trigger conditions, etc. according to the requirements. The event trigger condition is related to the status of the detection task. You can set the position, speed, whether the target is found, etc. as event trigger conditions. Set the time association according to the task requirements to reflect the timing and sequence of different tasks. Set the number of valid triggers validNum to control the number of event triggers. Set the association between time and events and record the associated event number. There are two results of time and event triggering. One is to change the status of the detection task, and the other is to change the status of other tasks. During the execution of the task, the task status is changed by the trigger, thereby realizing task scheduling without human operation.

[0086] S4: Read trigger configuration and set trigger detection

[0087] Read the trigger configuration before the task, assign the trigger to the corresponding task according to the detection task number, set the trigger detection, and perform the trigger detection during the task execution.

[0088] The event trigger is as follows: each time the event trigger condition is met and the trigger times validNum>0, the event trigger result can be executed. If there is a time trigger association, the trigger time is recorded; each time the trigger validNum=validNum-1, when validNum is 0, this event cannot be triggered, isValid is 0, the event is invalid, and the task will no longer be detected.

[0089] The time detection is as follows: if the global time trigger condition is met, the time trigger result is executed, the valid flag isValid is 0, and the time is invalid; if there is an event association and the interval time trigger condition is met, the time trigger result is executed, the valid flag isValid is 0, and the time is invalid.

[0090] The brief flowchart for reading trigger configuration and performing trigger detection is as follows: Figure 3 shown.

[0091] Detailed flow chart as follows Figure 4 As shown, first read the initial configuration and trigger configuration, and run each task. Assume there are 1, 2, 3, ..., m tasks, take task 1 as an example:

[0092] Task 1 runs in state 1 and performs trigger detection. If there is no trigger configuration, it detects whether it is triggered by other tasks. If it is not changed, the task state remains unchanged and runs in state 1. If it is triggered by other tasks, it runs in state 2. State 2 is the state set by other task triggers.

[0093] If there is a trigger configuration, first check the time trigger configuration. If the time trigger configuration is valid, check whether there is an event association with the trigger time. If there is an event association, perform interval time detection according to the trigger event of the associated event. If there is no event association, monitor according to the global time. If the time trigger condition is met, change the task state and run according to state 3. State 3 is the task state set by the time trigger.

[0094] If there is no time trigger configuration, or the time trigger is invalid, or the time trigger condition is not met, then continue to check the event trigger. If the event trigger is invalid, the task state will not be changed and it will still run in state 1. If the event trigger is valid and the event trigger condition is met, check whether the trigger event has a time association. If there is a time association, record the trigger time for the associated time trigger call, and then the event trigger setting changes the task state to state 4.

[0095] The status of the updated task 1 is named and defined as status 1, and then check whether the task is completed. If it is completed, the process ends. If it is not completed, continue to run each task.

[0096] The beneficial effects of the present invention are:

[0097] The present invention proposes an unmanned cluster task scheduling method based on a dual trigger mechanism, which includes time triggering and event triggering. The two triggers can be associated to achieve multiple triggering effects. By setting the trigger conditions and the number of triggers, various situations in the task execution process can be triggered. The execution trigger result changes the state of any set task, reflecting the task timing and hierarchy, and realizing automatic task scheduling in complex application environments. Specific embodiment 3:

[0099] Specific embodiment 3 is an embodiment of a possible application scenario of the method described in specific embodiment 1 or specific embodiment 2. The execution methods of embodiment 1 and embodiment 2 are discussed in combination with specific cases through fire rescue. The specific technical solution is as follows:

[0100] The complex application scenario settings and departure configurations for fire rescue are as follows: there are three tasks: a fixed-wing formation patrols to search for the fire source; a quadcopter formation approaches to detect the fire source; and an unmanned vehicle formation conducts material transportation and fire rescue on the ground.

[0101] The trigger configuration is as follows:

[0102] Time trigger 1 is a global time trigger. The trigger condition is the global time of 5s. The trigger result is to dispatch a fixed-wing formation to perform a formation detection mission.

[0103] Time trigger 2 is an interval time trigger, the associated event is event trigger 2, the trigger condition is 3 minutes after event trigger 2 is triggered, and the trigger result is that the unmanned vehicle formation ends the approach detection and material transportation tasks and returns to the base.

[0104] Event trigger 1 detects whether the fixed-wing formation has found a fire source. The target area is the point where people are in distress or where materials are needed. The trigger result is that the fixed-wing formation marks the target and dispatches a quadrotor formation and an unmanned vehicle formation. The effective trigger number is 1, and there is no time trigger association.

[0105] Event trigger 2 detects the execution status of the quadrotor and unmanned vehicle formation tasks. The trigger condition is that the formation arrives at the task area. The trigger result is that the quadrotor and unmanned vehicle perform close detection, material transportation and other tasks. The fixed-wing edge formation ends and continues formation monitoring. The effective trigger number is 1. There is a time trigger association, which is associated with time trigger 2.

[0106] Figure 6 , Figure 7 , Figure 8 The process and triggering instructions for fire rescue example process 1, process 2, process 3 are as follows:

[0107] 1-2: Trigger the dispatch of fixed-wing formations for formation detection according to the global time

[0108] 3-6: The fixed-wing formation finds the target personnel distress point or material demand point, meeting event trigger condition 1. The event trigger result has two aspects. One aspect is to change its own task status. The fixed-wing formation changes from the formation detection state to marking near the target. The second aspect is to change the status of other tasks and transmit information to the base. The status of the quadcopter formation and the unmanned vehicle formation changes from waiting at the base to being dispatched to the target area to perform close detection and material delivery tasks.

[0109] 7-8: After the quadcopter formation and the unmanned vehicle formation arrive at the point where people are in distress or where materials are needed, event trigger condition 2 is met, there is a time association, and the trigger time is recorded. The event trigger result has two aspects. One aspect is to change the task status of the quadcopter formation and the unmanned vehicle formation to perform rescue and other tasks after arriving; the second aspect is to change the status of other tasks so that the fixed-wing can continue to fly in formation.

[0110] 9-10: The monitoring time of the quadcopter formation and the unmanned vehicle formation is triggered, and the trigger time of the associated event trigger 2 is obtained. After the interval time condition is met, the time trigger condition 2 is met. The result of the time trigger is that the quadcopter formation and the unmanned vehicle formation end the close monitoring and material transportation and return to the base. Specific embodiment 4:

[0112] by Figure 4 The embodiments of the present invention will be described in detail using examples.

[0113] After the system starts, the initial configuration of the unmanned inspection cluster is read, and the trigger configuration is read according to the trigger mechanism. The task is run when all configurations are set normally. Each task is executed in the preset order, and after the task is executed, the system is set to the corresponding state according to the nature of the task. As a result, the current task and the state corresponding to the current task exist in the unmanned inspection cluster.

[0114] Perform trigger detection to detect whether there is a trigger configuration in the current environment. Trigger configuration is divided into time trigger and event trigger. At this time, the trigger configuration detected is not to detect the specific trigger but only to detect whether it exists. The test result is only existence or non-existence.

[0115] If there is a trigger configuration, it is necessary to further check whether it is time trigger or time trigger. The details are as follows: check whether there is a time trigger configuration; if so, check whether the time trigger is valid; if so, check whether there is an event association with the time trigger. If there is an event association, obtain the associated event trigger time and perform the detection according to the time interval. If the time trigger condition is met, change the task state and run according to the changed task state. Among them, if there is no associated event of the time trigger, directly perform global time detection.

[0116] In the above situation, if there is no time trigger configuration, or the time trigger is invalid, or the time trigger condition is not met, then the event trigger is checked to see if it is valid. If the event trigger is invalid, the task state remains unchanged and runs according to the original state. If the event trigger is valid, check whether the event trigger condition is met; if the event trigger condition is not met, the task state remains unchanged and runs according to the original state; if the event trigger condition is met, check whether the event trigger condition has a time association. If there is no time association, directly cover the task state; if there is a time association, record the trigger time.

[0117] If there is no trigger configuration when checking whether there is a trigger configuration, it is determined whether it is triggered by other tasks. If so, the trigger settings of other tasks are changed and run according to the changed state; if not, the task running state remains unchanged and runs according to the original state.

[0118] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

Claims

1. A high-speed unmanned inspection cluster task scheduling method based on a dual trigger mechanism, characterized in that: The method comprises: The trigger detection is used to detect whether there is a preset trigger mechanism in the environment, and the trigger mechanism is a condition that triggers the change of the state of the unmanned inspection cluster; the trigger mechanism includes a time trigger mechanism and an event trigger mechanism; When a trigger condition of a trigger mechanism is detected, the state of the current task is adjusted to a preset state corresponding to the trigger condition, and the preset state is used as the state of the current task of the unmanned inspection cluster; the trigger mechanism that meets the trigger condition is called a triggered mechanism, and each task has multiple states; The current task is continued to be executed based on the adjusted state of the current task, and when the current task is finished, the corresponding next task is mobilized based on the completed task and its state executed by the unmanned inspection cluster.

2. A high-speed unmanned inspection cluster task scheduling method based on a double trigger mechanism as claimed in claim 1, characterized in that: After the triggering condition of a triggering mechanism is detected to be met, the method further includes: If the triggered mechanism has an associated triggering mechanism, then an associated triggering detection is performed based on the triggered mechanism and the state of the current task of the unmanned inspection cluster after being triggered; the associated triggering detection is a detection of the triggering mechanism associated with the triggered mechanism, and the triggering mechanism associated with the triggered mechanism is called the associated triggering mechanism; When it is detected that the association trigger condition of the association trigger mechanism is met, the state of the current task is adjusted to a preset association state corresponding to the association trigger condition, and the preset association state is used as the state of the current task of the unmanned inspection cluster.

3. A high-speed unmanned inspection cluster task scheduling method based on a double trigger mechanism as described in claim 2, characterized in that: After the triggering condition of a certain triggering mechanism is detected to be satisfied, and before the state of the current task of the unmanned inspection cluster based on the triggered mechanism and after being triggered, the method further includes: Detecting whether the triggered mechanism has the associated triggering mechanism; If the associated trigger mechanism does not exist, continue to perform trigger detection; If the association trigger mechanism exists, the association trigger detection is performed.

4. A high-speed unmanned inspection cluster task scheduling method based on a double trigger mechanism as claimed in claim 1, characterized in that: Before triggering detection under the current task of the unmanned inspection cluster, the method further includes: Detecting whether there is a trigger configuration, where the trigger configuration is a set of trigger conditions corresponding to the trigger mechanism; If the trigger configuration exists, performing the trigger detection; If the trigger configuration does not exist, the state of the current task continues.

5. A high-speed unmanned inspection cluster task scheduling method based on a double trigger mechanism as claimed in claim 1, characterized in that: The trigger detection under the current task of the unmanned inspection cluster includes: detecting the corresponding conditions of the trigger mechanism according to a preset order.

6. A high-speed unmanned inspection cluster task scheduling method based on a double trigger mechanism as claimed in claim 1, characterized in that: The trigger conditions corresponding to the time trigger mechanism are global time trigger conditions and interval time trigger conditions.

7. A high-speed unmanned inspection cluster task scheduling method based on a double trigger mechanism as claimed in claim 1, characterized in that: The triggering conditions corresponding to the event triggering mechanism are multiple preset event conditions.

8. A high-speed unmanned inspection cluster based on a dual trigger mechanism, characterized in that: The unmanned inspection cluster is provided with a control system, and the control system controls the unmanned inspection cluster by the method described in any one of claims 1-7.

9. A high-speed unmanned inspection cluster task scheduling control system based on a dual trigger mechanism, characterized in that: The control system includes: a trigger detection unit, a state adjustment unit, and a task mobilization unit; The trigger detection unit is used to detect whether there is a preset trigger mechanism in the environment, and the trigger mechanism is a condition that triggers the change of the state of the unmanned inspection cluster; the trigger mechanism includes a time trigger mechanism and an event trigger mechanism; The state adjustment unit is used to adjust the state of the current task to a preset state corresponding to the trigger condition when a trigger condition of a trigger mechanism is detected, and use the preset state as the state of the current task of the unmanned inspection cluster; the trigger mechanism that meets the trigger condition is called a triggered mechanism, and each task has multiple states; The task mobilization unit is used to continue executing the current task based on the adjusted state of the current task, and when the current task ends, mobilize the corresponding next task based on the task executed by the unmanned inspection cluster and its state.

10. An electronic device, characterized in that: The electronic device is mounted on an unmanned inspection cluster, and includes a processor and a memory electrically connected to the processor, the memory is used to store a computer program, and the processor is used to call the computer program to perform the following steps: The trigger detection is used to detect whether there is a preset trigger mechanism in the environment, and the trigger mechanism is a condition that triggers the change of the state of the unmanned inspection cluster; the trigger mechanism includes a time trigger mechanism and an event trigger mechanism; When a trigger condition of a certain trigger mechanism is detected, the state of the current task is adjusted to a preset state corresponding to the trigger condition, and the preset state is used as the state of the current task of the unmanned inspection cluster; The triggering mechanism that meets the triggering condition is called the triggered mechanism. Each task has multiple states; The current task is continued to be executed based on the adjusted state of the current task, and when the current task is finished, the corresponding next task is mobilized based on the completed task and its state executed by the unmanned inspection cluster.

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