Unmanned aerial vehicle hangar site selection method and device and storage medium

Abstract

The invention discloses an unmanned aerial vehicle hangar site selection method and device and a storage medium, and the method comprises the steps: carrying out the hangar deployment based on a tower point set of a target region through employing a triangle subdivision method, and obtaining a plurality of initial hangar addresses; determining the removal level of each initial hangar address according to the removal measurement of the tower; sorting all the initial hangar addresses from large to small according to the removal levels, judging whether the sorted initial hangar address with the maximum removal level meets connectivity constraints or not, if yes, removing the initial hangar address with the maximum removal level, and repositioning the remaining initial hangar addresses; and when all the initial hangar addresses meet the connectivity constraint, obtaining a final hangar address of the target area. According to the method, the hangar address position can be flexibly adjusted according to the actual terrain and environmental constraints to adapt to complex and changeable geographical conditions, so that the overall inspection efficiency of the unmanned aerial vehicle can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a method, device and storage medium for selecting a site for an unmanned aerial vehicle hangar. Background Art

[0002] In recent years, drones have been widely used in the civilian field, including wireless communication support, infrastructure inspection, surveillance and monitoring, and power equipment inspection. Compared with manual inspection, drone power line inspection is more cost- and time-efficient because it does not require much labor and is not restricted by road conditions. Although drone inspection brings many attractive benefits, its application range is still limited due to battery capacity limitations. To address this challenge, charging stations are deployed within the power line inspection range to enable drones to charge their batteries, and then they can fly again with fully charged batteries. With these infrastructures, the scope of drone inspections has been significantly improved.

[0003] The existing method of selecting the site for a drone hangar usually involves manually selecting the hangar address. Faced with a complex power grid environment, it is difficult to comprehensively consider various factors to determine the deployment location of the drone hangar, resulting in low drone inspection efficiency. Summary of the invention

[0004] The present invention provides a method, device and storage medium for selecting a site for a drone hangar, so as to solve the technical problem that the existing method for selecting a site for a drone hangar usually involves manually selecting the hangar address, and in the face of a complex power grid environment, it is difficult to comprehensively consider various factors to determine the deployment location of the drone hangar, resulting in low drone inspection efficiency.

[0005] The present invention provides a method for selecting a site for a drone hangar, comprising:

[0006] Using the triangulation method, the hangar is deployed based on the tower point set in the target area to obtain several initial hangar addresses.

[0007] Determining the removal level of each initial hangar address according to the removal metric of the tower; wherein the removal metric of the tower is determined according to the inspection frequency of the tower;

[0008] Sorting all the initial hangar addresses from large to small according to the removal level, determining whether the initial hangar address with the largest removal level after sorting satisfies the connectivity constraint, and if so, removing the initial hangar address with the largest removal level, and relocating the remaining initial hangar addresses;

[0009] When all initial hangar addresses satisfy the connectivity constraints, the final hangar address of the target area is obtained.

[0010] Furthermore, the triangulation method is used to deploy the hangar based on the tower point set in the target area to obtain several initial hangar addresses, including:

[0011] Using the triangulation method, the initial point is determined according to the tower point set of the target area and the address of the initial hangar in stock;

[0012] constructing a plurality of equilateral triangles at different mesh angles based on the initial point;

[0013] If there is a pole tower within the coverage of the vertex of the equilateral triangle, and the vertex is not in the non-deployable area of ​​the hangar, the vertex is determined as the initial hangar address; if there is a pole tower within the coverage of the equilateral triangle, and the vertex is in the non-deployable area of ​​the hangar, the center of the triangle corresponding to the vertex is determined as the initial hangar address;

[0014] The numbers of initial hangar addresses at different grid angles are compared, and the initial hangar address with the minimum number of initial hangar addresses is determined as the final initial hangar address.

[0015] Further, the determining of the removal level of each initial hangar address according to the removal metric of the tower includes:

[0016] The removal level for each initial hangar location is determined according to the following formula:

[0017]

[0018] Among them, N i is the removal level of the initial hangar address, and r(P) is the removal measure of the tower located at P. Furthermore, the connectivity constraint is:

[0019] ||P i ,P j ||≤R;

[0020] Among them, R is the maximum flight distance of the drone when it is fully charged, ||P i , P j || is the initial hangar address P i and the initial hangar address P j The distance between.

[0021] Furthermore, the relocation of the remaining initial hangar addresses includes:

[0022] Determine the minimum distance between each tower and the remaining initial hangar locations;

[0023] An objective function is constructed by minimizing the average distance of all minimum distances, and the remaining initial hangar addresses are relocated by solving the objective function.

[0024] Furthermore, the objective function is:

[0025]

[0026] Among them, P′1,...,P′ n-1 is each remaining hangar address, ω(P) is the inspection number of the tower located at P, and l(P) is the minimum distance between the tower located at P and the remaining hangar addresses.

[0027] Further, relocating the remaining initial hangar addresses by solving the objective function includes:

[0028] Based on the objective function, the uncovered towers after removing the initial hangar address with the maximum removal level are allocated to the initial hangar address with the shortest distance therefrom;

[0029] After all uncovered towers are allocated, calculate the combined virtual force of the towers in each initial hangar address;

[0030] Each of the initial hangar addresses is moved along the tower in conjunction with the virtual force.

[0031] The present invention also provides a UAV hangar site selection device, comprising:

[0032] An initial hangar address determination module is used to deploy hangars based on the tower point set in the target area using a triangulation method to obtain several initial hangar addresses;

[0033] A hangar address removal level determination module is used to determine the removal level of each initial hangar address according to the removal metric of the tower; wherein the removal metric of the tower is determined according to the inspection frequency of the tower;

[0034] A hangar address relocation module is used to sort all the initial hangar addresses from large to small according to the removal level, and determine whether the initial hangar address with the largest removal level after sorting meets the connectivity constraint. If so, remove the initial hangar address with the largest removal level and relocate the remaining initial hangar addresses;

[0035] The final hangar address determination module is used to obtain the final hangar address of the target area when all initial hangar addresses meet the connectivity constraints.

[0036] The present invention also provides a terminal device, comprising: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the drone hangar site selection method as described above is implemented.

[0037] The present invention also provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the drone hangar site selection method as described above.

[0038] The present invention can preliminarily determine the initial hangar address through the triangulation method, and the initial hangar address can deploy a sufficient number of hangars to cover all the towers. On this basis, the initial hangar addresses that do not meet the connectivity constraints are removed according to the removal level of the initial hangar addresses, and the remaining initial hangar addresses are relocated. The hangar address position can be flexibly adjusted according to the actual terrain and environmental constraints to adapt to complex and changeable geographical conditions, thereby ensuring that the average distance from the tower to the hangar address is reduced while covering all the towers, thereby effectively improving the overall inspection efficiency of the UAV.

[0039] Furthermore, based on the calculated tower joint virtual force, the moving direction and distance of each initial hangar address are determined, and the position of the hangar address is updated according to the direction and magnitude indicated by the virtual force. By moving the hangar address along the tower virtual force, the hangar address can be optimized and adjusted, thereby further reducing the average distance from the tower to the hangar, which can effectively improve the overall inspection efficiency of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the flow of the method for selecting a site for a drone hangar provided by an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of initial hangar address deployment provided by an embodiment of the present invention;

[0042] Figure 3 is a schematic diagram of the center of a triangle provided by an embodiment of the present invention;

[0043] Figure 4 It is a schematic diagram of the algorithm flow of the drone hangar site selection provided by an embodiment of the present invention;

[0044] Figure 5 It is a structural schematic diagram of a drone hangar site selection device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0047] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0048] See also Figure 1 The present invention provides a method for selecting a site for a drone hangar, comprising:

[0049] S1. Using the triangulation method, the hangar is deployed based on the tower point set in the target area to obtain several initial hangar addresses;

[0050] The embodiment of the present invention can preliminarily determine the initial hangar address through the triangulation method, and the initial hangar address can deploy a sufficient number of hangars to cover all the towers.

[0051] S2. determining the removal level of each initial hangar address according to the removal metric of the tower; wherein the removal metric of the tower is determined according to the inspection frequency of the tower;

[0052] In the embodiment of the present invention, the lower the inspection frequency of the pole tower, the more likely it is to be removed. For the inspection frequency ω(p)>0 at the pole tower P, the removal metric of the pole tower at p is:

[0053]

[0054] In addition, the embodiment of the present invention can add corresponding soft constraints to r(p) according to parameters such as the difficulty of manual inspection of the tower and the distance from power facilities such as substations.

[0055] S3. Sort all initial hangar addresses according to the removal level from large to small, and determine whether the initial hangar address with the largest removal level after sorting satisfies the connectivity constraint. If so, remove the initial hangar address with the largest removal level, and relocate the remaining initial hangar addresses;

[0056] In an embodiment of the present invention, after the initial hangar addresses are sorted, the initial hangar addresses of the maximum removal level are analyzed. If the initial hangar address does not meet the connectivity constraint, the initial hangar address is removed and relocated. If the initial hangar address meets the connectivity constraint, there is no need to remove the initial hangar, and the initial hangar addresses of the next removal level are analyzed. If they do not meet the connectivity constraint, they are relocated. If they meet the connectivity constraint, the initial hangar addresses of the next removal level are analyzed again to determine whether they meet the connectivity constraint, until all the initial hangar addresses meet the connectivity constraint.

[0057] S4. When all initial hangar addresses satisfy the connectivity constraints, the final hangar address of the target area is obtained.

[0058] The embodiment of the present invention can preliminarily determine the initial hangar address through the triangulation method. The initial hangar address can deploy a sufficient number of hangars to cover all the towers. On this basis, the initial hangar addresses that do not meet the connectivity constraints are removed according to the removal level of the initial hangar addresses, and the remaining initial hangar addresses are relocated. The hangar address position can be flexibly adjusted according to the actual terrain and environmental constraints to adapt to complex and changeable geographical conditions, thereby ensuring that the average distance from the tower to the hangar address is reduced while covering all the towers, thereby effectively improving the overall inspection efficiency of the drone.

[0059] In one embodiment, step S1, using a triangulation method, hangar deployment is performed based on a tower point set in a target area to obtain a number of initial hangar addresses, including:

[0060] S11, using a triangulation method, determining an initial point according to the tower point set of the target area and the stock initial hangar address;

[0061] See also Figure 2 In the embodiment of the present invention, the triangulation method can determine the initial point P according to the tower point set of the target area and the stock initial hangar address. * , with point P * The triangulation of the vertices is T(α i ,P * ).

[0062] S12, constructing a plurality of equilateral triangles at different mesh angles based on the initial point;

[0063] See also Figure 3 In the embodiment of the present invention, α∈[0,π / 3) is the coordinate x-axis and the triangular mesh T(α i ,P * ) is the grid angle. Figure 3 As shown, the triangular mesh consists of a side length of The equilateral triangle is composed of i Taking different values, P * When changing its position, different triangulations can be obtained, and the optimal grid angle can be obtained by comparing the calculation results of different grid angles (such as the number of hangars required to fully cover all towers). Among them, each equilateral triangle is a triangle generated from the initial point P* to the right and upward, with a side length of √3R.

[0064] In the embodiment of the present invention, for an equilateral triangle, let C represent its center, and three equal Voronoi cells of the triangle may be used, wherein a vertex of the triangle is closer to the triangulation partition than the other two vertices.

[0065] S13. If there is a pole tower within the coverage of the vertex of the equilateral triangle, and the vertex is not in the non-deployable hangar area, the vertex is determined as the initial hangar address; if there is a pole tower within the coverage of the equilateral triangle, and the vertex is in the non-deployable hangar area, the center of the triangle corresponding to the vertex is determined as the initial hangar address;

[0066] In the embodiment of the present invention, based on the construction of the triangulation mentioned above, the hangar non-deployable area A can be confirmed by the tower points, the existing hangars and the hard constraints (non-deployable areas such as rivers and houses). The first group of hangars are deployed at the vertices of the triangles, which cover most of the tower area. The second group of hangars are deployed at some locations close to the centers of some triangles to cover the remaining area.

[0067] See also Figure 2 , Figure 2 The vertices of the triangle except point P0 are the first set of initial hangar addresses, and the green midpoint of the triangle is the second set of initial hangar addresses.

[0068] S14. Compare the numbers of initial hangar addresses at different grid angles, and determine the initial hangar address with the minimum number of initial hangar addresses as the final initial hangar address.

[0069] In an embodiment of the present invention, when triangulation is performed at different grid angles and the initial hangar address is determined, different grid angles ultimately correspond to different numbers of initial hangar addresses. The embodiment of the present invention uses the grid angle when the number of initial hangar addresses is the smallest as the optimal grid angle, thereby determining the final initial hangar address and the number of initial hangar addresses.

[0070] The embodiment of the present invention can cover the target area more finely through the triangulation method, ensure that the initial hangar address can cover all the towers, and can flexibly adjust the hangar address position according to the actual terrain and environmental constraints, and can adapt to complex and changeable geographical conditions, thereby effectively improving the efficiency of drone inspections.

[0071] In one embodiment, step S2, determining the removal level of each initial hangar address according to the removal metric of the tower, comprises:

[0072] The removal level for each initial hangar location is determined according to the following formula:

[0073]

[0074] Among them, N i is the removal level of the initial hangar address, and r(P) is the removal measure of the tower located at P.

[0075] In this embodiment of the present invention, if the tower at P is closer to hangar i than other hangars, it is assigned to hangar i. In this embodiment of the present invention, S(P i ) indicates the tower area that meets the above conditions.

[0076] The embodiment of the present invention determines the removal level of each initial hangar address according to the removal metric of the tower, and can effectively evaluate the removal level of each initial hangar address, thereby providing a scientific basis for the final site selection of the drone hangar and effectively improving the reliability and accuracy of the drone hangar site selection.

[0077] In one embodiment, the connectivity constraints are:

[0078] ||P i ,P j ||≤R;

[0079] Among them, R is the maximum flight distance of the drone when it is fully charged, ||P i , P j || is the initial hangar address P i and the initial hangar address P j The distance between.

[0080] In the embodiment of the present invention, each time the sorted initial hangar address with the maximum removal level is analyzed, if the initial hangar address is within any initial hangar address P j If the distance is greater than the maximum flight distance of the drone when it is fully charged, the drone cannot fly directly from the initial hangar address to the initial hangar address P when performing the mission. j , that is, the initial hangar address is removed. After removing the initial hangar address, some towers are not covered by the hangar address, and the remaining initial hangar addresses need to be relocated.

[0081] The embodiment of the present invention determines whether the current hangar address should be removed through connectivity, thereby ensuring connectivity between the deployed hangar addresses, that is, the drone can fly directly from any hangar address to another hangar address without the need for energy replenishment in an intermediate hangar, thereby effectively improving the inspection efficiency of the drone.

[0082] In one embodiment, step S3, relocating the remaining initial hangar addresses, includes:

[0083] S311, determining the minimum distance between each tower and the remaining initial hangar address;

[0084] In the embodiment of the present invention, P′1, ..., P′ n-1 It represents the positions of the remaining n-1 initial hangar addresses after removing one initial hangar address. The minimum distance between each tower and the remaining initial hangar addresses can be determined according to the following formula:

[0085]

[0086] Among them, l(P) is the minimum distance between the tower located at P and the remaining hangar addresses.

[0087] S312, constructing an objective function with the minimum average distance of all minimum distances, and relocating the remaining initial hangar addresses by solving the objective function.

[0088] In the embodiment of the present invention, the objective function is:

[0089]

[0090] Among them, P′1,...,P′ n-1 is each remaining hangar address, ω(P) is the inspection number of the tower located at P, and l(P) is the minimum distance between the tower located at P and the remaining hangar addresses.

[0091] By optimizing the layout of the hangar address, the embodiment of the present invention can effectively reduce the moving distance of the inspection personnel, improve the inspection efficiency, and reduce the operation and maintenance cost. At the same time, by relocating the remaining initial hangar address, it can ensure that each tower can be inspected in a timely and effective manner, thereby improving the stability and reliability of the entire power system.

[0092] In one embodiment, step S3, relocating the remaining initial hangar addresses by solving the objective function, includes:

[0093] S321, based on the objective function, allocating uncovered towers after removing the initial hangar address with the maximum removal level to the initial hangar address with the shortest distance therefrom;

[0094] In an embodiment of the present invention, the objective function reflects the average distance between the tower and its nearest deployment hangar. The internal optimization problem is expressed as follows:

[0095]

[0096] Since a hangar address is removed, some towers will not be covered. The embodiment of the present invention allocates these uncovered towers to the nearest hangar. Let S′ i Denotes the subset of towers assigned to hangar i (i=1,...,n-1). If there are two or more hangar addresses with the same distance from the tower, the tower can be assigned to any of the hangar addresses, for example, to the hangar address with a lower index.

[0097] S322, after the uncovered towers are allocated, calculate the combined virtual force of the towers in each initial hangar address;

[0098] In the embodiment of the present invention, when i≠j The embodiment of the present invention is a tower p∈S′ i Introduce a virtual force f(p,P′ i ) to relocate the hangar address. The virtual force is modeled as follows:

[0099] f(p,P′ i )=ω(p)(pP′ i )

[0100] Among them, f(p,P′ i ) is pointing to P′ i to p, ω(p) acts as a weight. i Along the joint virtual force movement

[0101]

[0102] In the formula S′ i The center of gravity, F′ i Define a i Point to C′ i direction, along F′ i Direction shift will result in P′ i Towards C′ i Move, so that the hangar address can be relocated after each hangar address is removed.

[0103] In the embodiment of the present invention, for each initial hangar address, the virtual force generated by all the towers covered by it on the hangar address is calculated. The calculation of the virtual force is based on the distance between the tower and the hangar and the weight coefficient, and the weight coefficient can be determined based on factors such as the importance and maintenance frequency of the tower. After calculating the virtual force generated by each tower on the hangar, these virtual forces are vector-superimposed to obtain the joint virtual force of the hangar address.

[0104] The embodiment of the present invention can quantify the degree and direction of the hangar address to be moved by calculating the joint virtual force, thereby providing a basis for optimizing the hangar address.

[0105] S323, moving each initial hangar address along the tower combined virtual force.

[0106] The embodiment of the present invention determines the moving direction and distance of each initial hangar address according to the calculated tower joint virtual force, and updates the position of the hangar address according to the direction and magnitude indicated by the virtual force.

[0107] The embodiment of the present invention can optimize the adjustment of the hangar address by moving the hangar address along the virtual force of its corresponding tower, thereby further reducing the average distance from the tower to the hangar, thereby effectively improving the overall inspection efficiency of the drone.

[0108] See also Figure 4 , is a schematic diagram of an algorithm flow for selecting a site for a drone hangar provided in an embodiment of the present invention.

[0109] Embodiments The embodiments of the present invention have the following beneficial effects:

[0110] The embodiment of the present invention can preliminarily determine the initial hangar address through the triangulation method. The initial hangar address can deploy a sufficient number of hangars to cover all the towers. On this basis, the initial hangar addresses that do not meet the connectivity constraints are removed according to the removal level of the initial hangar addresses, and the remaining initial hangar addresses are relocated. The hangar address position can be flexibly adjusted according to the actual terrain and environmental constraints to adapt to complex and changeable geographical conditions, thereby ensuring that the average distance from the tower to the hangar address is reduced while covering all the towers, thereby effectively improving the overall inspection efficiency of the drone.

[0111] Furthermore, based on the calculated tower joint virtual force, the moving direction and distance of each initial hangar address are determined, and the position of the hangar address is updated according to the direction and magnitude indicated by the virtual force. By moving the hangar address along the tower virtual force, the hangar address can be optimized and adjusted, thereby further reducing the average distance from the tower to the hangar, which can effectively improve the overall inspection efficiency of the drone.

[0112] See also Figure 5Based on the same inventive concept as the above embodiment, the present invention also provides a drone hangar site selection device, comprising:

[0113] An initial hangar address determination module 10 is used to deploy hangars based on a tower point set in a target area using a triangulation method to obtain a number of initial hangar addresses;

[0114] A hangar address removal level determination module 20 is used to determine the removal level of each initial hangar address according to the removal metric of the tower; wherein the removal metric of the tower is determined according to the inspection frequency of the tower;

[0115] The hangar address relocation module 30 is used to sort all the initial hangar addresses from large to small according to the removal level, and determine whether the initial hangar address with the largest removal level after sorting meets the connectivity constraint. If so, the initial hangar address with the largest removal level is removed, and the remaining initial hangar addresses are relocated;

[0116] The final hangar address determination module 40 is used to obtain the final hangar address of the target area when all the initial hangar addresses meet the connectivity constraints.

[0117] In one embodiment, the initial hangar address determination module 10 is further used to:

[0118] Using the triangulation method, the initial point is determined according to the tower point set of the target area and the address of the initial hangar in stock;

[0119] Construct several equilateral triangles based on the initial point at different mesh angles;

[0120] If there is a pole tower within the coverage of the vertex of the equilateral triangle, and the vertex is not in the non-deployable area of ​​the hangar, the vertex is determined as the initial hangar address; if there is a pole tower within the coverage of the equilateral triangle, and the vertex is in the non-deployable area of ​​the hangar, the center of the triangle corresponding to the vertex is determined as the initial hangar address;

[0121] The numbers of initial hangar addresses at different grid angles are compared, and the initial hangar address with the minimum number of initial hangar addresses is determined as the final initial hangar address.

[0122] In one embodiment, the hangar address removal level determination module 20 is further configured to:

[0123] The removal level for each initial hangar location is determined according to the following formula:

[0124]

[0125] Among them, N iis the removal level of the initial hangar address, and r(P) is the removal measure of the tower located at P. In one embodiment, the connectivity constraint is:

[0126] ||P i ,P j ||≤R;

[0127] Among them, R is the maximum flight distance of the drone when it is fully charged, ||P i , P j || is the initial hangar address P i and the initial hangar address P j The distance between.

[0128] In one embodiment, the hangar address relocation module 30 is further configured to:

[0129] Determine the minimum distance between each tower and the remaining initial hangar locations;

[0130] The objective function is constructed by minimizing the average distance of all minimum distances, and the remaining initial hangar addresses are relocated by solving the objective function.

[0131] In one embodiment, the objective function is:

[0132]

[0133] Among them, P′1,...,P′ n-1 is each remaining hangar address, ω(P) is the inspection number of the tower located at P, and l(P) is the minimum distance between the tower located at P and the remaining hangar addresses.

[0134] In one embodiment, the hangar address relocation module 30 is further configured to:

[0135] Based on the objective function, the uncovered towers after removing the initial hangar address with the maximum removal level are assigned to the initial hangar address with the smallest distance from it;

[0136] After all uncovered towers are allocated, calculate the combined virtual force of the towers in each initial hangar address;

[0137] Move each initial hangar address along the tower combined virtual force.

[0138] Accordingly, an embodiment of the present invention also provides a terminal device, comprising: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements the drone hangar site selection method of any one of the above embodiments.

[0139] The terminal device of this embodiment includes: a processor, a memory, and a computer program and computer instructions stored in the memory and executable on the processor. When the processor executes the computer program, each step in the above embodiment 1 is implemented, for example Figure 1 Alternatively, when the processor executes the computer program, the functions of each module / unit in the above device embodiment, such as the hangar address relocation module 30, are implemented.

[0140] Exemplarily, the computer program can be divided into one or more modules / units, one or more modules / units are stored in a memory and executed by a processor to complete the present invention. One or more modules / units can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in a terminal device. For example, the hangar address relocation module 30 is used to sort all initial hangar addresses from large to small according to the removal level, and determine whether the initial hangar address with the maximum removal level after sorting meets the connectivity constraint. If so, the initial hangar address with the maximum removal level is removed, and the remaining initial hangar addresses are relocated.

[0141] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown in the diagram, or may combine certain components, or different components. For example, the terminal device may also include an input / output device, a network access device, a bus, etc.

[0142] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0143] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created according to the use of the mobile terminal, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0144] Among them, if the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0145] Accordingly, an embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the drone hangar site selection method as described in any one of the above embodiments.

[0146] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for selecting a site for a drone hangar, characterized in that: include: Using the triangulation method, the hangar is deployed based on the tower point set in the target area to obtain several initial hangar addresses. Determining the removal level of each initial hangar address according to the removal metric of the tower; wherein the removal metric of the tower is determined according to the inspection frequency of the tower; Sorting all the initial hangar addresses from large to small according to the removal level, determining whether the initial hangar address with the largest removal level after sorting satisfies the connectivity constraint, and if so, removing the initial hangar address with the largest removal level, and relocating the remaining initial hangar addresses; When all initial hangar addresses satisfy the connectivity constraints, the final hangar address of the target area is obtained.

2. The method for selecting a site for a drone hangar as claimed in claim 1, characterized in that: The triangulation method is used to deploy the hangar based on the tower point set in the target area, and several initial hangar addresses are obtained, including: Using the triangulation method, the initial point is determined according to the tower point set of the target area and the address of the initial hangar in stock; constructing a plurality of equilateral triangles at different mesh angles based on the initial point; If there is a pole tower within the coverage of the vertex of the equilateral triangle, and the vertex is not in the non-deployable area of ​​the hangar, the vertex is determined as the initial hangar address; if there is a pole tower within the coverage of the equilateral triangle, and the vertex is in the non-deployable area of ​​the hangar, the center of the triangle corresponding to the vertex is determined as the initial hangar address; The numbers of initial hangar addresses at different grid angles are compared, and the initial hangar address with the minimum number of initial hangar addresses is determined as the final initial hangar address.

3. The method for selecting a site for a drone hangar as claimed in claim 1, characterized in that: The step of determining the removal level of each initial hangar address according to the removal metric of the tower comprises: The removal level for each initial hangar location is determined according to the following formula: Among them, N i is the removal level of the initial hangar address, and r(P) is the removal measure of the tower located at P.

4. The method for selecting a site for a drone hangar as claimed in claim 1, wherein: The connectivity constraints are: ||P i ,P j ||≤R; Among them, R is the maximum flight distance of the drone when it is fully charged, ||P i , P j || is the initial hangar address P i and the initial hangar address P j The distance between.

5. The method for selecting a site for a drone hangar as claimed in claim 1, wherein: The relocation of the remaining initial hangar addresses includes: Determine the minimum distance between each tower and the remaining initial hangar locations; An objective function is constructed by minimizing the average distance of all minimum distances, and the remaining initial hangar addresses are relocated by solving the objective function.

6. The method for selecting a site for a drone hangar as claimed in claim 5, characterized in that: The objective function is: Among them, P1',...,P' n-1 is each remaining hangar address, ω(P) is the inspection number of the tower located at P, and l(P) is the minimum distance between the tower located at P and the remaining hangar addresses.

7. The method for selecting a site for a drone hangar as claimed in claim 5, wherein: The relocating the remaining initial hangar addresses by solving the objective function includes: Based on the objective function, the uncovered towers after removing the initial hangar address with the maximum removal level are allocated to the initial hangar address with the shortest distance therefrom; After all uncovered towers are allocated, calculate the combined virtual force of the towers at each initial hangar address; Each of the initial hangar addresses is moved along the tower combined with the virtual force.

8. A drone hangar site selection device, characterized in that: include: An initial hangar address determination module is used to deploy hangars based on the tower point set in the target area using a triangulation method to obtain several initial hangar addresses; A hangar address removal level determination module is used to determine the removal level of each initial hangar address according to the removal metric of the tower; wherein the removal metric of the tower is determined according to the inspection frequency of the tower; A hangar address relocation module is used to sort all the initial hangar addresses from large to small according to the removal level, and determine whether the initial hangar address with the largest removal level after sorting meets the connectivity constraint. If so, remove the initial hangar address with the largest removal level and relocate the remaining initial hangar addresses; The final hangar address determination module is used to obtain the final hangar address of the target area when all initial hangar addresses meet the connectivity constraints.

9. A terminal device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the method for selecting a site for a drone hangar as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program; wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the drone hangar site selection method as described in any one of claims 1-7.

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