An unmanned aerial vehicle hangar site selection method and device, and a storage medium

Abstract

The application discloses a kind of unmanned vehicle hangar site selection method, device and storage medium, wherein method includes: using triangular dissection method, based on the tower point set of target area, carry out hangar deployment, obtain several initial hangar addresses;According to the removal measure of tower, determine the removal level of each initial hangar address;According to removal level, sort all initial hangar addresses from big to small, judge whether the initial hangar address of maximum removal level after sorting satisfies connectivity constraint, if yes, remove the initial hangar address of maximum removal level, and reposition to the remaining initial hangar address;When all initial hangar addresses satisfy connectivity constraint, obtain the final hangar address of target area.The application can flexibly adjust hangar address position according to actual terrain and environmental constraints, to adapt to complex and changeable geographical conditions, so as to effectively improve the overall inspection efficiency of unmanned vehicle.

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 sector for applications such as wireless communication support, infrastructure inspection, surveillance and monitoring, and power equipment inspection. Compared to manual inspections, drone-based power line inspections are more cost- and time-efficient because they require less labor and are not restricted by road conditions. Despite the many attractive benefits of drone inspections, their scope of application remains limited due to battery capacity limitations. To address this challenge, charging stations are being deployed within the power line inspection area, allowing drones to recharge their batteries, allowing them to fly again with fully charged batteries. With this infrastructure in place, the scope of drone inspections has been significantly expanded.

[0003] The existing drone hangar site selection method usually involves manual selection of 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 drone hangar site, so as to solve the technical problem that the existing drone hangar site selection method usually manually selects the hangar address, faces a complex power grid environment, and 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 triangulation method, hangar deployment is performed based on the tower point set in the target area to obtain several initial hangar addresses.

[0007] Determining a removal level for each initial hangar address based on a tower removal metric; wherein the tower removal metric is determined based on a tower inspection frequency;

[0008] Sorting all the initial hangar addresses according to the removal levels from largest to smallest, 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 hangars based on the tower point set in the target area to obtain several initial hangar addresses, including:

[0011] Using 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 grid 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 within the undeployable 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 within the undeployable hangar area, 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] Furthermore, determining the removal level of each initial hangar address according to the tower removal metric 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 them.

[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, P1',...,P' n-1 is each remaining hangar address, ω(P) is the number of inspections 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] Furthermore, relocating the remaining initial hangar addresses by solving the objective function includes:

[0028] 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;

[0029] After all uncovered towers are allocated, calculate the combined virtual force of the towers at 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] The 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 configured to determine a removal level for each initial hangar address based on a tower removal metric, wherein the tower removal metric is determined based on a tower inspection frequency;

[0034] a hangar address relocation module, configured to sort all the initial hangar addresses from largest to smallest according to the removal levels, determine whether the initial hangar address with the largest removal level after sorting satisfies the connectivity constraint, and 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, wherein when the processor executes the computer program, the above-mentioned drone hangar site selection method 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. 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.

[0039] Furthermore, based on the calculated joint virtual force of the tower, 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 virtual force of the tower, the hangar address can be optimized and adjusted, thereby further reducing the average distance from the tower to the hangar, thereby effectively improving the overall inspection efficiency of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 1 is a flow chart of a 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 triangle center provided by an embodiment of the present invention;

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

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

[0045] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts 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 to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. 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 expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the 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 triangulation method, hangar deployment is performed 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. Determine the removal level of each initial hangar address based on the tower removal metric; wherein the tower removal metric is determined based on the inspection frequency of the tower;

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

[0053]

[0054] In addition, the embodiment of the present invention can add corresponding soft constraints to r(p) based on 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 largest to smallest, 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 initial hangar addresses meet the connectivity constraint.

[0057] S4. When all initial hangar addresses satisfy the connectivity constraint, 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 uses a triangulation method to perform hangar deployment based on a tower point set in a target area to obtain several initial hangar addresses, including:

[0060] S11. Using a triangulation method, determine the initial point based on the tower point set in the target area and the address of the existing initial hangar;

[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 grid 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 triangle mesh T(α i ,P * The angle between one direction of ) is the grid angle. Figure 3 As shown, the triangular mesh consists of side lengths of The equilateral triangle is composed of i Taking different values, P * By changing its position, different triangulations can be obtained. By comparing the calculation results of different grid angles (such as the number of hangars required to fully cover all towers), the optimal grid angle can be obtained. In this case, each equilateral triangle is generated from the initial point P* to the right and upward, with a side length of √3R.

[0064] In an 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 a pole tower exists within the coverage of the vertex of the equilateral triangle and the vertex is not within the undeployable hangar area, the vertex is determined as the initial hangar address; if a pole tower exists within the coverage of the equilateral triangle and the vertex is within the undeployable hangar area, the center of the triangle corresponding to the vertex is determined as the initial hangar address;

[0066] In this embodiment of the present invention, based on the aforementioned triangulation construction, the undeployable hangar area A can be determined based on tower points, existing hangars, and hard constraints (undeployable areas such as rivers and houses). The first group of hangars is deployed at the vertices of the triangles, covering most of the tower area. The second group of hangars is deployed at locations near 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. In an embodiment of the present invention, the grid angle at which the number of initial hangar addresses is minimized is used as the optimal grid angle to determine 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, ensuring that the initial hangar address can cover all 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 based on the tower removal metric, includes:

[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, let 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 based on the tower removal metric, which 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 them.

[0080] In the embodiment of the present invention, each time the initial hangar address with the maximum removal level after sorting is analyzed, if the initial hangar address is to 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. Determine the minimum distance between each tower and the remaining initial hangar addresses;

[0084] In the embodiment of the present invention, P1', ..., 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] Where l(P) is the minimum distance between the tower at P and the remaining hangar addresses.

[0087] S312. Construct an objective function by minimizing the average distance of all minimum distances, and relocate the remaining initial hangar addresses by solving the objective function.

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

[0089]

[0090] Among them, P1',...,P' n-1 is each remaining hangar address, ω(P) is the number of inspections 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 hangar locations, the present invention effectively reduces the travel distance of inspection personnel, improves inspection efficiency, and reduces operation and maintenance costs. Furthermore, by relocating the remaining initial hangar locations, it ensures that every tower receives timely and effective inspections, 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, the uncovered towers after removing the initial hangar address with the maximum removal level are assigned to the initial hangar address with the shortest distance therefrom;

[0094] In this 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 a tower, the tower can be assigned to any of them, for example, to the hangar address with the lower index.

[0097] S322. After all uncovered towers are allocated, calculate the combined virtual force of the towers at 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. Hangar P i 'Move along the joint virtual force

[0101]

[0102] In the formula For S' i The center of gravity, F i 'Defines a i 'Point to C' i Direction, along F i 'Direction movement will cause P i 'To C' i Move, so that the hangar address can be relocated after each hangar address is removed.

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

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

[0105] S323. Move 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 based on 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 , which is a schematic diagram of an algorithm flow for selecting a site for a drone hangar provided by an embodiment of the present invention.

[0109] 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 joint virtual force of the tower, 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 virtual force of the tower, the hangar address can be optimized and adjusted, thereby further reducing the average distance from the tower to the hangar, thereby effectively improving 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 configured 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] The hangar address removal level determination module 20 is configured to determine the removal level of each initial hangar address based on the tower removal metric; wherein the tower removal metric is determined based on the inspection frequency of the tower;

[0115] The hangar address relocation module 30 is used to sort all initial hangar addresses from largest to smallest according to the removal level, determine whether the initial hangar address with the largest removal level after sorting satisfies the connectivity constraint, and if so, remove the initial hangar address with the largest removal level and relocate the remaining initial hangar addresses;

[0116] The final hangar address determination module 40 is configured to obtain the final hangar address of the target area when all initial hangar addresses satisfy the connectivity constraint.

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

[0118] Using 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 grid 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 undeployable 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 undeployable hangar area, 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 metric 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 them.

[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, P1',...,P' n-1 is each remaining hangar address, ω(P) is the number of inspections 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 minimum distance from it;

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

[0137] Move each initial hangar address along the tower joint 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, wherein when the processor executes the computer program, the drone hangar site selection method of any one of the above embodiments is implemented.

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

[0140] Exemplarily, a computer program can be divided into one or more modules / units, one or more of which are stored in a memory and executed by a processor to implement the present invention. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which 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 largest to smallest according to removal level, determine whether the initial hangar address with the largest removal level after sorting satisfies the connectivity constraint, and if so, remove the initial hangar address with the largest removal level and relocate the remaining initial hangar addresses.

[0141] Terminal devices can be computing devices such as desktop computers, laptops, PDAs, and cloud servers. Terminal devices may include, but are not limited to, processors and memory. Those skilled in the art will appreciate that the schematic diagrams are merely examples of terminal devices and do not limit the scope of terminal devices. Terminal devices may include more or fewer components than shown, or combinations of certain components, or different components. For example, terminal devices may also include input / output devices, network access devices, buses, and the like.

[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), 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. The processor is the control center of the terminal device, connecting various parts of the entire terminal device using various interfaces and lines.

[0143] The memory can be used to store computer programs and / or modules. The processor implements 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. 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 based on the use of the mobile terminal, etc. In addition, the memory can include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart media card (SMC), a 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 device.

[0144] If the module / unit integrated into 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 can implement all or part of the process in the above-mentioned embodiment method, and can also be completed by a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), 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, computer-readable media does not include electric carrier signals and telecommunication signals.

[0145] Accordingly, an embodiment of 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 in any one of the above embodiments.

[0146] The above specific embodiments further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention for those skilled in the art.

Claims

1. A method for selecting a site for a drone hangar, characterized in that: include: Using triangulation method, hangar deployment is performed based on the tower point set in the target area to obtain several initial hangar addresses. The method adopts a triangulation method to deploy a hangar based on a tower point set in a target area to obtain a plurality of initial hangar addresses, including: adopting a triangulation method to determine an initial point based on a tower point set in a target area and an existing initial hangar address; constructing a plurality of equilateral triangles at different grid angles based on the initial point; if a tower exists within the coverage of a vertex of the equilateral triangle and the vertex is not within a hangar non-deployable area, determining the vertex as the initial hangar address; if a tower exists within the coverage of the equilateral triangle and the vertex is within the hangar non-deployable area, determining the triangle center corresponding to the vertex as the initial hangar address; comparing the number of initial hangar addresses at different grid angles, and determining the initial hangar address with the minimum number of initial hangar addresses as the final initial hangar address; Determining a removal level for each initial hangar address based on a tower removal metric; wherein the tower removal metric is determined based on a tower inspection frequency; determining the removal level for each initial hangar address based on the tower removal metric includes: determining the removal level for each initial hangar address based on the following formula: Among them, N i is the removal level of the initial hangar address, r(P) is the removal measure of the tower located at P; All the initial hangar addresses are sorted from large to small according to the removal level, and it is determined whether the initial hangar address with the maximum removal level after sorting satisfies the connectivity constraint. If so, the initial hangar address with the maximum removal level is removed, and the remaining initial hangar addresses are relocated; the relocation of the remaining initial hangar addresses includes: determining the minimum distance between each tower and the remaining initial hangar addresses; constructing an objective function with the minimum average distance of all minimum distances, and based on the objective function, allocating the uncovered towers after the initial hangar address with the maximum removal level is removed to the initial hangar address with the minimum distance therefrom; after the uncovered towers are allocated, calculating the tower joint virtual force in each initial hangar address; and moving each initial hangar address along the tower joint virtual force; 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 according to 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 them.

3. The method for selecting a site for a drone hangar according to claim 1, wherein: The objective function is: Among them, P1',...,P′ n-1 is each remaining hangar address, ω(P) is the number of inspections of the tower located at P, and l(P) is the minimum distance between the tower located at P and the remaining hangar addresses.

4. A drone hangar site selection device, characterized in that: include: The 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; The method adopts a triangulation method to deploy a hangar based on a tower point set in a target area to obtain a plurality of initial hangar addresses, including: adopting a triangulation method to determine an initial point based on a tower point set in a target area and an existing initial hangar address; constructing a plurality of equilateral triangles at different grid angles based on the initial point; if a tower exists within the coverage of a vertex of the equilateral triangle and the vertex is not within a hangar non-deployable area, determining the vertex as the initial hangar address; if a tower exists within the coverage of the equilateral triangle and the vertex is within the hangar non-deployable area, determining the triangle center corresponding to the vertex as the initial hangar address; comparing the number of initial hangar addresses at different grid angles, and determining the initial hangar address with the minimum number of initial hangar addresses as the final initial hangar address; A hangar address removal level determination module is configured to determine the removal level of each initial hangar address based on a tower removal metric; wherein the tower removal metric is determined based on a tower inspection frequency; and determining the removal level of each initial hangar address based on the tower removal metric comprises: determining the removal level of each initial hangar address based on the following formula: Among them, N i is the removal level of the initial hangar address, r(P) is the removal measure of the tower located at P; The hangar address repositioning module is used to sort all the initial hangar addresses according to the removal level from large to small, determine whether the initial hangar address with the maximum removal level after sorting meets the connectivity constraint, and if so, remove the initial hangar address with the maximum removal level and reposition the remaining initial hangar addresses; the repositioning of the remaining initial hangar addresses includes: determining the minimum distance between each tower and the remaining initial hangar addresses; constructing an objective function with the minimum average distance of all minimum distances, and based on the objective function, assigning the uncovered towers after removing the initial hangar address with the maximum removal level to the initial hangar address with the minimum distance therefrom; after the uncovered towers are assigned, calculating the tower joint virtual force in each initial hangar address; and moving each initial hangar address along the tower joint virtual force; 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.

5. 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 3 is implemented.

6. 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 according to any one of claims 1 to 3.

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