Micro-seismic signal acquisition method, device and equipment under assistance of unmanned aerial vehicle and medium

Abstract

The invention provides a micro-seismic signal acquisition method, device, equipment and medium under assistance of an unmanned aerial vehicle, and the method comprises the steps: obtaining a target region to which an initial micro-seismic wave detector set belongs, and obtaining a candidate signal acquisition region with abnormal signal strength from the target region; determining a target acquisition sub-region of each unmanned aerial vehicle in the unmanned aerial vehicle cluster according to the candidate signal acquisition region; according to the invention, the unmanned aerial vehicle cluster carries out the microseismic signal collection of each target collection sub-region, so as to obtain the target microseismic signal set of the target region, thereby improving the collection timeliness and accuracy of the microseismic signals of the region with abnormal signal strength, improving the collection timeliness and accuracy of the microseismic data carried in the microseismic signals, and improving the collection accuracy of the microseismic data. According to the method and the system, independent base station arrangement is not needed, the acquisition cost of the microseismic signals in the signal strength abnormal area is reduced, the flexibility of microseismic signal acquisition in the target area is improved, the acquisition method of the microseismic signals is optimized, and the accuracy and timeliness of microseismic condition detection in the mine operation area are improved.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a method, device, equipment and medium for collecting microseismic signals assisted by a drone. Background Art

[0002] In the scenario of hydraulic fracturing operations on the coal seam roof, high-pressure water flow will cause cracks in the coal seam roof. The hydraulic fracturing crack conditions need to be monitored in real time. In related technologies, corresponding microseismic data acquisition equipment can be arranged on the ground corresponding to the operation area, and the overall crack conditions of the coal seam roof in the hydraulic fracturing operation area can be monitored through the microseismic data collected by each device.

[0003] In this scenario, the complexity of the terrain in the mine operation area may have a certain degree of impact on the reception of various microseismic data, and the timeliness and accuracy of the data are poor. Summary of the invention

[0004] The purpose of this application is to solve one of the technical problems in the above technology at least to a certain extent.

[0005] In a first aspect, the present application provides a method for collecting microseismic signals assisted by a drone, comprising: obtaining a target area to which an initial set of microseismic wave detectors belongs, and obtaining a candidate signal collection area with abnormal signal strength from the target area; determining a target collection sub-area for each drone in a drone cluster based on the candidate signal collection area; and collecting microseismic signals from each target collection sub-area through the drone cluster to obtain a target microseismic signal set for the target area.

[0006] The second aspect of the present application provides a microseismic signal acquisition device assisted by a drone, including: an acquisition module, used to acquire a target area to which an initial microseismic wave detector set belongs, and to acquire a candidate signal acquisition area with abnormal signal strength from the target area; a determination module, used to determine a target acquisition sub-area for each drone in a drone cluster based on the candidate signal acquisition area; and an acquisition module, used to perform microseismic signal acquisition on each target acquisition sub-area through the drone cluster to obtain a target microseismic signal set for the target area.

[0007] The third aspect of the present disclosure proposes an electronic device, comprising: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to execute instructions to implement the microseismic signal acquisition method assisted by a drone as proposed in the first aspect above.

[0008] A fourth aspect of the present disclosure proposes a computer-readable storage medium. When instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the microseismic signal acquisition method assisted by a drone as proposed in the first aspect above.

[0009] The microseismic signal acquisition method and device assisted by drones proposed in the present application obtain the target area to which the initial microseismic wave detector set belongs, and obtain the candidate signal acquisition area with abnormal signal strength from the target area, and then determine the target acquisition sub-area of ​​each drone in the candidate signal acquisition area, and collect microseismic signals from each target acquisition sub-area through each drone to obtain the target microseismic signal set of the target area. In the present application, the candidate signal acquisition area with abnormal signal strength in the target area is screened to determine the target acquisition sub-area of ​​each drone, and the acquisition of microseismic signals in each target acquisition sub-area is realized by drones, so as to realize the acquisition of microseismic signals in the area with abnormal signal strength, and obtain the target microseismic signal set through the drone cluster, thereby improving the timeliness and accuracy of the acquisition of microseismic signals in the area with abnormal signal strength, thereby improving the timeliness and accuracy of the acquisition of microseismic data carried in the microseismic signals, without the need for the deployment of separate base stations, reducing the acquisition cost of microseismic signals in the area with abnormal signal strength, improving the flexibility of the acquisition of microseismic signals in the target area, optimizing the acquisition method of microseismic signals, thereby improving the accuracy and timeliness of the detection of microseismic conditions in the mine operation area, and optimizing the operation safety of the target area.

[0010] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0012] Figure 1 A schematic diagram of a process of collecting microseismic signals assisted by a drone according to an embodiment of the present application;

[0013] Figure 2 A schematic diagram of a flow chart of a method for collecting microseismic signals assisted by a drone according to another embodiment of the present application;

[0014] Figure 3 A schematic diagram of a flow chart of a method for collecting microseismic signals assisted by a drone according to another embodiment of the present application;

[0015] Figure 4 A schematic diagram of a flow chart of a method for collecting microseismic signals assisted by a drone according to another embodiment of the present application;

[0016] Figure 5 A schematic diagram of a flow chart of a method for collecting microseismic signals assisted by a drone according to another embodiment of the present application;

[0017] Figure 6 This is a schematic structural diagram of a microseismic signal acquisition device assisted by a drone according to an embodiment of the present application;

[0018] Figure 7 A block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0020] The following describes the method, device, equipment and medium for collecting microseismic signals assisted by a drone in embodiments of the present application with reference to the accompanying drawings.

[0021] Figure 1 FIG. 1 is a flow chart of a method for collecting microseismic signals assisted by a drone according to an embodiment of the present application. Figure 1 As shown, the method includes:

[0022] S101, obtaining a target area to which an initial microseismic wave detector set belongs, and obtaining a candidate signal acquisition area with abnormal signal strength from the target area.

[0023] In actual operation scenarios, hydraulic forces in mines may cause cracks to appear on the ground in the operation area. In this scenario, the mine operation scene needs to collect microseismic signals to detect ground cracks in the operation area. Among them, cracks on the ground in the operation area caused by hydraulic forces and other forces can be regarded as microseisms occurring in the operation area.

[0024] Optionally, a set number of microseismic wave detectors may be arranged in the working area that needs to be detected, and the microseismic conditions in the working area may be detected by means of the microseismic signals sent by the microseismic wave detectors. The detection area where the microseismic wave detectors are arranged may be marked as a target area, and each microseismic wave detector arranged in the target area may be marked as an initial microseismic wave detector in the target area, and then the set of initial microseismic wave detectors may be determined as an initial microseismic wave detector set in the target area.

[0025] In an embodiment of the present application, when collecting microseismic signals from each initial microseismic wave detector, the signal strength of each collected microseismic signal may be different. In this scenario, the microseismic signal sent by each initial microseismic wave detector can be obtained, and the strength of each microseismic signal can be detected based on the signal strength detection method in the relevant technology. Then, based on the detection results, a partial area where signal abnormalities occur is screened out from the target area, and the partial area is marked as the signal abnormality coverage area in the target area.

[0026] Optionally, when performing signal strength detection on the microseismic signals transmitted by each initial microseismic geophone, it is possible that some of the microseismic signals emitted by the initial microseismic geophones cannot be detected. In this scenario, the area where the microseismic geophones that have not been detected are arranged can be marked as a signal blind area in the target area.

[0027] In this scenario, the signal abnormal coverage area and the signal blind area can be obtained from the target area, and then the area composed of the signal abnormal coverage area and the signal blind area is determined as the candidate signal collection area where the signal strength abnormality occurs in the target area.

[0028] S102: Determine a target acquisition sub-area for each drone in the drone cluster based on the candidate signal acquisition area.

[0029] In the embodiment of the present application, the candidate signal collection area is an area where the signal strength is abnormal. In this scenario, the microseismic signals emitted by each initial microseismic wave detector arranged in the candidate signal collection area can be collected by controlling the drone.

[0030] Optionally, the candidate signal collection area can be divided into multiple sub-areas, and the operating area for signal collection of each drone included in the drone cluster can be determined from the multiple sub-areas, which are marked as the target collection sub-areas of each drone.

[0031] S103, collecting microseismic signals in each target collection sub-area through a drone cluster to obtain a target microseismic signal set in the target area.

[0032] In the embodiment of the present application, each drone in the drone cluster can collect microseismic signals from its corresponding target collection sub-area with abnormal signal strength.

[0033] Optionally, based on the drone control method in the related art, each drone can be controlled to reach its corresponding target collection sub-area, and each drone can be controlled to perform the signal collection task of each target collection sub-area based on a preset signal collection method.

[0034] Furthermore, based on the microseismic signals collected in each target acquisition sub-area, a total microseismic signal set of the target area is obtained and marked as a target microseismic signal set of the target area.

[0035] The microseismic signal acquisition method assisted by drones proposed in the present application obtains the target area to which the initial microseismic wave detector set belongs, and obtains the candidate signal acquisition area with abnormal signal strength from the target area, and then determines the target acquisition sub-area of ​​each drone in the candidate signal acquisition area, and collects microseismic signals from each target acquisition sub-area through each drone to obtain the target microseismic signal set of the target area. In the present application, the candidate signal acquisition area with abnormal signal strength in the target area is screened to determine the target acquisition sub-area of ​​each drone, and the acquisition of microseismic signals in each target acquisition sub-area is realized by drones, so as to realize the acquisition of microseismic signals in the area with abnormal signal strength, and obtain the target microseismic signal set through the drone cluster, thereby improving the timeliness and accuracy of the acquisition of microseismic signals in the area with abnormal signal strength, thereby improving the timeliness and accuracy of the acquisition of microseismic data carried in the microseismic signals, without the need for the deployment of separate base stations, reducing the acquisition cost of microseismic signals in the area with abnormal signal strength, improving the flexibility of the acquisition of microseismic signals in the target area, optimizing the acquisition method of microseismic signals, thereby improving the accuracy and timeliness of the detection of microseismic conditions in the mine operation area, and optimizing the operation safety of the target area.

[0036] In the above-mentioned embodiment, the method for collecting microseismic signals assisted by a drone can also be combined with Figure 2 understand, Figure 2 FIG. 1 is a flow chart of a method for collecting microseismic signals assisted by a drone according to another embodiment of the present application. Figure 2 As shown, the method includes:

[0037] S201, obtaining a preset signal strength detection position, and performing signal strength detection on each initial microseismic wave detector based on the signal strength detection position, and obtaining a first candidate microseismic wave detector subset with abnormal signal strength and a second candidate microseismic wave detector subset with normal signal strength from the initial microseismic wave detector set.

[0038] In the embodiment of the present application, the signal strength of the signal emitted by each initial microseismic wave detector arranged in the target area can be detected, wherein the position where the signal strength detection is performed can be marked as the signal strength detection position.

[0039] It should be noted that a ground signal strength detection device may be arranged at the signal strength detection position, or a drone equipped with a signal strength detection module may be arranged at the signal strength detection position, and no specific limitation is made here.

[0040] Optionally, signal strength detection may be performed on the microseismic signals emitted by each initial microseismic wave detector in the target area at the signal strength detection position to obtain the signal strength of the microseismic signals emitted by each initial microseismic wave detector.

[0041] In the embodiment of the present application, the microseismic signals emitted by each initial microseismic wave detector may or may not be detected when performing microseismic signal strength detection, wherein the setting area of ​​the initial microseismic wave detector that is not detected can be marked as a signal blind area in the target area, and the setting area of ​​some initial microseismic wave detectors that have abnormal signal strength among the detected initial microseismic wave detectors can be marked as a signal weak coverage area with abnormal strength in the target area.

[0042] Optionally, for the signal blind area in the target area, some initial microseismic wave detectors that cannot be detected can be screened out from the initial microseismic wave detectors, and the part of the initial microseismic wave detectors can be determined as the first candidate microseismic wave detectors deployed in the signal blind area.

[0043] Optionally, for any initial microseismic wave detector that can detect microseismic signals, a preset signal strength threshold can be obtained, and the signal strength of the initial microseismic wave detector can be compared with the signal strength threshold. When the signal strength of the microseismic signal emitted by the initial microseismic wave detector is less than or equal to the signal strength threshold, it can be determined that the signal strength of the microseismic signal emitted by the initial microseismic wave detector is abnormal, and the initial microseismic wave detector can be determined as the first candidate microseismic wave detector deployed in the signal weak coverage area with abnormal strength.

[0044] As an example, the signal strength detection position is set to x, y, z, where x, y, z are the position coordinates of the drone equipped with the signal strength detection module at the signal strength detection position, and the signal strength threshold is S min .

[0045] In this example, the signal strength S(x, y, z) of the microseismic signal emitted by any initial microseismic wave detector can be compared with the signal strength threshold S min For comparison, when S(x,y,z)≤S min When the initial microseismic wave detector is determined to be the first candidate microseismic wave detector, and when the drone at the x, y, z position cannot detect the microseismic signal emitted by the initial microseismic wave detector, the initial microseismic wave detector can be determined to be the first candidate microseismic wave detector.

[0046] Furthermore, based on each first candidate microseismic wave detector in the signal blind area and each first candidate microseismic wave detector in the signal weak coverage area, a subset of first candidate microseismic wave detectors with abnormal signal strength in the initial microseismic wave detector set is obtained.

[0047] Accordingly, each initial microseismic wave detector is screened and filtered based on the first candidate microseismic wave detector set, and some of the initial microseismic wave detectors obtained after filtering are determined as second candidate microseismic wave detectors with normal signal strength among the initial microseismic wave detectors, thereby obtaining a second candidate microseismic wave detector subset composed of each second candidate microseismic wave detector.

[0048] S202 , obtaining a microseismic wave detector distribution map of the target area, and annotating the signal strength of the microseismic wave detector distribution map based on the first candidate microseismic wave detector subset and the second candidate microseismic wave detector subset to obtain a labeled signal strength distribution map.

[0049] In an embodiment of the present application, a distribution map drawing method in related art can be used to draw a distribution map of the deployment of microseismic wave detectors in the target area based on the deployment position information of each initial microseismic wave detector in the target area, and the drawn distribution map is determined as the distribution map of the microseismic wave detectors in the target area.

[0050] Optionally, the deployment position of each first candidate microseismic wave detector in the first candidate microseismic wave detector subset and their respective signal strength detection information can be obtained, and this part of information can be marked in the microseismic wave detector distribution map of the target area, and the deployment position of each second candidate microseismic wave detector in the second candidate microseismic wave detector subset and their respective signal strength detection information can be obtained, and this part of information can be marked in the microseismic wave detector distribution map of the target area, thereby realizing signal strength marking of the microseismic wave detector distribution map based on the first candidate microseismic wave detector subset and the second candidate microseismic wave detector subset.

[0051] In this scenario, the annotated distribution map carries the location information and signal strength information of each microseismic wave detector, and the annotated distribution map can be determined as the signal strength distribution map of the target area.

[0052] S203, performing signal strength area division on the signal strength distribution map, so as to divide candidate signal collection areas with abnormal signal strength from the signal strength distribution map.

[0053] As a possible implementation method, based on the signal strength corresponding to each microseismic wave detector deployed in the target area, the coverage range of the microseismic signal emitted by each microseismic wave detector can be obtained, and the division boundaries of the signal strength distribution diagram when dividing the signal strength area can be determined based on each coverage range. Then, the signal strength distribution diagram is divided into signal strength areas based on each division boundary, and each area obtained after the division is determined as each initial signal acquisition area in the target area.

[0054] Furthermore, the regions where the first candidate microseismic wave detectors are deployed are screened out from the initial signal collection regions and determined as candidate signal collection regions in the target region.

[0055] As another possible implementation method, the deployment range area of ​​each first candidate microseismic wave detector can be screened out from the signal strength distribution map, and the partial area can be divided and processed to divide the area in the target area including the signal blind area and / or the signal weak coverage area, and mark the candidate signal acquisition area.

[0056] S204: Determine the target acquisition sub-area of ​​each UAV based on the candidate signal acquisition area.

[0057] Optionally, the number of devices in the drone cluster and the number of candidate signal collection areas are obtained, and based on the number of devices and the number of areas, collection area planning is performed on the drone cluster to obtain target collection sub-areas for each drone.

[0058] As an example, the collection area planning of each drone can be implemented based on the following expression, thereby obtaining the target collection sub-area of ​​each drone:

[0059]

[0060] In the above expression, N represents the number of drones in the drone cluster, M represents the number of regions in the candidate signal collection area, and D i,j Represents the distance from the i-th UAV to the j-th candidate signal collection area.

[0061] It can be understood that, for any UAV, the distance from the UAV to each candidate signal collection area can be obtained, and the candidate signal collection area with the shortest distance can be screened out from each distance. This area is the target collection sub-area for the UAV to collect signals.

[0062] S205, for any UAV, path planning is performed between the UAV and the target collection sub-area corresponding to the UAV to obtain a candidate flight path set corresponding to the UAV, so as to determine a target flight path for the UAV to reach the target collection sub-area based on the candidate flight path set, wherein the target flight path is determined from the candidate flight path set based on a screening strategy corresponding to the shortest flight time and / or a screening strategy corresponding to the lowest flight energy consumption.

[0063] In an embodiment of the present application, based on the path planning algorithm in the relevant technology, each planned path for any UAV to reach its corresponding target collection sub-area can be obtained, thereby obtaining a candidate flight path set composed of each planned path.

[0064] Furthermore, the candidate flight paths are compared in terms of flight time, and the path with the shortest flight time is selected as the target flight path for the UAV to reach the target collection sub-area.

[0065] Furthermore, the flight energy consumption dimension of each candidate flight path can be compared, and the path with the minimum flight energy consumption can be selected as the target flight path for the UAV to reach the target collection sub-area.

[0066] As an example, the target flight path corresponding to the drone can be obtained based on the following formula:

[0067]

[0068] In the above formula, P i represents the target flight path of the UAV, E f represents the flight energy consumption, T f represents the flight time, and λ represents the weight parameter of energy consumption and time.

[0069] In this example, the minimum flight time and the minimum flight energy consumption for the drone to reach its corresponding target collection sub-area can be planned based on the above formula, thereby obtaining the target flight path corresponding to the drone.

[0070] S206, controlling the UAV to reach the target acquisition sub-area based on the target flight path to determine a first signal acquisition position of the UAV in the target acquisition sub-area, wherein the first signal acquisition position is determined based on the three-dimensional coordinate information of the UAV in the target acquisition sub-area.

[0071] In an embodiment of the present application, after the drone reaches the target collection sub-area, it can collect microseismic signals emitted by the microseismic wave detector in the area based on the set position, and the position where the drone is collecting signals can be determined as the first signal collection position of the drone.

[0072] Among them, the first signal collection position can be determined based on the three-dimensional coordinates of the drone, and the three-dimensional coordinates can include the flight altitude of the drone.

[0073] As an example, the flight altitude of the drone can be obtained based on the following formula:

[0074]

[0075] In the above formula, H represents the flight altitude of the drone, S rec (H) represents the signal strength of the microseismic signal received by the drone at the flight altitude H, E H (H) represents the flight energy consumption required when the UAV is at position H at the flight altitude.

[0076] Optionally, after obtaining the flight altitude of the drone, the remaining coordinate information of the drone in the target acquisition sub-area can be determined based on the signal acquisition range of the drone, and then the three-dimensional coordinate information of the drone in the target acquisition sub-area can be obtained as the first signal acquisition position.

[0077] S207, based on the UAV at the first signal collection position, collect microseismic signals in the target collection sub-area to obtain an initial microseismic signal set in the target collection sub-area, and perform signal strength gain on the initial microseismic signal set to obtain a candidate microseismic signal set in the target collection sub-area.

[0078] In an embodiment of the present application, for any drone, the drone at the first signal collection position can collect microseismic signals emitted by each microseismic wave detector in the target collection sub-area where it is located based on the signal collection method in the relevant technology, and determine the set of collected microseismic signals as the initial microseismic signal set of the target collection sub-area.

[0079] In an embodiment of the present application, the drone has a set signal collection range. In this scenario, the drone at the first signal collection position may not be able to achieve full coverage signal collection for the target collection sub-area. In this scenario, the drone can achieve full coverage collection of each microseismic signal in the target collection sub-area by adjusting the signal collection position of the drone.

[0080] Optionally, for any UAV, it is identified whether the UAV at the first signal collection position can achieve full coverage microseismic signal collection for the target collection sub-area corresponding to the UAV.

[0081] Among them, for any UAV, the signal transmission range of the target collection sub-area corresponding to the UAV and the first coverage collection range of the UAV at the first signal collection position in the target collection sub-area are obtained.

[0082] In an embodiment of the present application, a preset collection range of the drone at the first signal collection position can be obtained, and the range can be marked as the first coverage collection range of the drone in the target collection sub-area, and the signal radiation range of the microseismic signal emitted by each microseismic wave detector in the target collection area can be obtained, and the signal emission range of the target collection sub-area can be obtained based on each signal radiation range.

[0083] As a possible implementation method, the coverage degree of the first coverage acquisition range can be compared with the signal transmission range. When the first coverage acquisition range cannot completely cover the signal transmission range, it can be determined that the UAV at the first signal collection position cannot achieve full coverage microseismic signal collection in the target collection sub-area.

[0084] As another possible implementation method, based on the first coverage collection range and the signal transmission range, the signal collection coverage of the UAV at the first signal collection position is obtained, and in response to the signal collection coverage being less than or equal to a preset coverage threshold, it is determined that the UAV at the first signal collection position is unable to achieve full coverage microseismic signal collection in the target collection sub-area.

[0085] In an embodiment of the present application, the first coverage collection range and the signal transmission range can be algorithmically processed based on the coverage algorithm in the relevant technology, and the coverage rate of the first coverage collection range based on the signal transmission range can be obtained according to the result of the algorithm processing, which is marked as the signal collection coverage rate of the drone at the first signal collection position.

[0086] In this scenario, the signal acquisition coverage rate can be compared with a preset coverage rate threshold. When the comparison result indicates that the signal acquisition coverage rate is less than or equal to the coverage rate threshold, it can be determined that the UAV at the first signal acquisition position cannot achieve full coverage microseismic signal acquisition in the target acquisition sub-area.

[0087] As an example, the signal acquisition coverage can be obtained based on the following formula:

[0088]

[0089] In the above formula, C represents the signal acquisition coverage, S F Indicates the first coverage acquisition range, S 总 Represents the signal transmission range of the target area, where C→1, that is, C approaches 1.

[0090] In the embodiment of the present application, when it is identified that the drone at the first signal collection position cannot achieve full coverage microseismic signal collection in the target collection sub-area, the signal collection position of the drone can be adjusted.

[0091] Optionally, in response to identifying that the drone at the first signal collection position cannot achieve full coverage microseismic signal collection of the target collection sub-area, the first signal collection position is adjusted to a second signal collection position, wherein the second signal collection position is used to achieve full coverage microseismic signal collection of the target collection sub-area by the drone.

[0092] In an embodiment of the present application, a signal collection position that can realize full coverage of microseismic signal collection in a target collection sub-area by a drone can be obtained based on a preset algorithm, and the signal collection position obtained based on the algorithm can be determined as a second signal collection position to which the drone needs to be adjusted in the target collection sub-area.

[0093] As an example, based on the algorithm formula for signal acquisition coverage proposed in the above example, the coverage of each position in the target acquisition sub-area that can be provided to the drone for signal acquisition can be calculated, and then according to the calculation result, a second signal acquisition position that can achieve full coverage of microseismic signal acquisition of the target acquisition sub-area by the drone is screened out from all positions.

[0094] It should be noted that when determining the second signal collection position of the UAV, the signal strength of the microseismic signal collected by the UAV at the second signal collection position also needs to be considered. It can be understood that from the various positions provided by the target collection sub-area for UAV signal collection, a position that can meet the requirements of full coverage of microseismic signal collection in the target collection sub-area and the signal strength of the collected microseismic signal is greater than the signal strength threshold can be screened out as the second signal collection position to which the UAV needs to be adjusted.

[0095] Optionally, the drone is controlled to move to a second signal collection position to collect microseismic signals covering the entire target collection sub-area, and obtain a candidate microseismic signal set for the target collection sub-area.

[0096] In an embodiment of the present application, after obtaining the second signal collection position, the drone can be controlled to fly from the first signal collection position to the second signal collection position, and continue to collect microseismic signals in the target collection sub-area at the second signal collection position, thereby achieving full coverage of microseismic signal collection of the target collection sub-area by the drone, thereby obtaining a candidate microseismic signal set for the target collection sub-area.

[0097] It should be noted that the drone at the second signal collection position realizes full coverage of microseismic signal collection for the target collection sub-area. The drone at the second signal collection position can collect all microseismic signals emitted by each microseismic wave detector in the target collection sub-area to obtain an initial microseismic signal set. Alternatively, after the drone collects part of the microseismic signals in the target collection sub-area at the second signal collection position, the part of the microseismic signals can be combined with the part of the microseismic signals collected at the first signal collection position to obtain all the microseismic signals emitted by each microseismic wave detector in the target collection sub-area, thereby obtaining the initial microseismic signal set of the target collection sub-area. No specific limitation is made here.

[0098] Furthermore, signal gain is performed on the initial microseismic signal set, wherein signal gain can be performed on each initial microseismic signal in the initial microseismic signal set based on a signal gain method in the related art, and each signal obtained after gain is determined as each candidate microseismic signal, thereby obtaining a candidate microseismic signal set composed of each candidate microseismic signal.

[0099] As an example, the gain of the initial microseismic signal set can be performed based on the following formula:

[0100] S enh =G·S raw

[0101] In the above formula, S enh represents the candidate microseismic signal after gain, S raw represents the initial microseismic signal, G represents the signal gain coefficient, where G>1.

[0102] Furthermore, the gain of each initial microseismic signal is realized based on the above formula, thereby obtaining a candidate microseismic signal set consisting of each candidate microseismic signal after gain.

[0103] In the embodiment of the present application, each drone in the drone cluster has its own preset flight time. In this scenario, it is necessary to detect the flight time of each drone.

[0104] Optionally, the flight time of each drone in the drone cluster is obtained. For any drone, in response to the drone's flight time being less than or equal to a preset flight time threshold, a task-taking-over drone is obtained from the drone cluster, and the task-taking-over drone is controlled to perform the drone's signal collection task and recall the drone.

[0105] In the embodiment of the present application, the remaining power of each drone can be detected, and the flight time can be estimated based on the remaining power of each drone to obtain the flight time of each drone.

[0106] Optionally, for any UAV, the flight time of the UAV can be compared with a preset flight time threshold. When the comparison result indicates that the flight time is less than or equal to the flight time threshold, it can be determined that the current flight time of the UAV cannot support the complete execution of the signal collection task in the target collection sub-area.

[0107] In this scenario, the drone needs to be recalled, and at least one drone that takes over the task to be performed by the recalled drone is selected from the remaining drones in the drone cluster as the task taking over drone corresponding to the recalled drone.

[0108] Furthermore, the task taking over UAV is controlled to arrive at the signal collection position corresponding to the recalled UAV to perform the signal collection task it has taken over and obtain the corresponding candidate microseismic signal set.

[0109] As an example, the flight time of a drone can be obtained based on the following formula:

[0110]

[0111] In the above formula, E opt Indicates the battery life, E flight,i represents the flight energy consumption of the i-th UAV, E comm,i represents the communication energy consumption of the i-th UAV.

[0112] In this example, the flight time of the drone obtained by the above formula can be compared with the preset flight time threshold E minlow By comparison, it can be determined that the UAV's flight time cannot support the complete execution of the signal collection task in the target collection sub-area.

[0113] Furthermore, the following formula is implemented based on the load balancing algorithm in the related art:

[0114]

[0115] In the above formula, W i represents the mission load of the i-th UAV, E bat,i represents the battery status of the i-th drone, n represents the number of drone devices in the drone cluster, and then the task taking over drone of the recalled drone is selected from the remaining drones.

[0116] The drone-assisted microseismic signal collection method proposed in the present application realizes the collection of microseismic signals in areas with abnormal signal strength, obtains the target microseismic signal set through a drone cluster, improves the timeliness and accuracy of the collection of microseismic signals in areas with abnormal signal strength, thereby improving the timeliness and accuracy of the collection of microseismic data carried in the microseismic signals, eliminates the need for separate base station deployment, reduces the cost of collecting microseismic signals in areas with abnormal signal strength, improves the flexibility of collecting microseismic signals in target areas, monitors the flight time of the drone, reduces the probability of abnormal situations in which the drone cannot be recalled normally due to abnormal flight time, improves the stability of the drone in executing signal collection tasks, and reduces task execution losses.

[0117] In the above embodiment, the acquisition of the target microseismic signal set can be combined with Figure 3 understand, Figure 3 FIG. 1 is a flow chart of a method for collecting microseismic signals assisted by a drone according to another embodiment of the present application. Figure 3 As shown, the method includes:

[0118] S301, obtaining the signal transmission distance between each UAV and the signal receiving device.

[0119] In an embodiment of the present application, the candidate microseismic signal sets acquired by each drone can continue to be transmitted to a preset receiving device, and based on the receiving device, the candidate microseismic signal sets in the target area are integrated to obtain the target microseismic signal set in the target area.

[0120] Among them, the receiving device can be marked as a preset signal receiving device, and the distance required for signal transmission when the candidate microseismic signal set is transmitted between each drone and the signal receiving device can be marked as the signal transmission distance between each drone and the signal receiving device.

[0121] S302, for any UAV, in response to the signal transmission distance corresponding to the UAV being greater than or equal to a preset transmission distance threshold, obtain the relay UAV corresponding to the UAV from the UAV cluster, and transmit the candidate microseismic signal set collected by the UAV to the signal receiving device through the relay UAV.

[0122] In an embodiment of the present application, when the signal transmission distance of any UAV is greater than or equal to a preset transmission distance threshold, it can be determined that the signal transmission distance between the UAV and the signal receiving device may have a certain degree of impact on the signal transmission quality of the candidate microseismic signal set of the UAV.

[0123] In this scenario, some drones between the drone and the signal receiving device can be obtained, and drones that can serve as signal transmission relays can be screened out from these drones as relay drones between the drone and the signal receiving device.

[0124] Furthermore, the UAV can transmit the acquired candidate microseismic signal set to the corresponding relay UAV, and transmit the candidate microseismic signal set acquired by the UAV to the signal receiving device through the relay signal transmission between the relay UAVs.

[0125] As an example, the transmission path of the candidate microseismic signal set of the drone transmitted through the drone relay to the signal receiving device can be determined by the following formula:

[0126]

[0127] In the above formula, P rel represents the total energy consumption of the drone cluster, S relay,k represents the signal strength of the candidate microseismic signal when the k-th candidate microseismic signal is transmitted, E comm,k It represents the communication energy consumption of the UAV when transmitting the candidate microseismic signal of the kth hop.

[0128] In this example, the above formula can be used to achieve relay signal transmission between drones and signal receiving devices while minimizing the total energy consumption of the drone cluster.

[0129] The drone-assisted microseismic signal acquisition method proposed in the present application realizes relay signal transmission between the drone and the signal receiving device through a relay drone, thereby reducing the influence of the signal transmission distance on the signal transmission quality of the candidate microseismic signal set, reducing the possibility of related abnormal situations such as transmission abnormalities and transmission loss of the candidate microseismic signal set, improving the transmission quality and transmission efficiency of the microseismic signals, and thus improving the timeliness and accuracy of the acquisition of microseismic signals in the signal strength abnormality area.

[0130] To better understand the above embodiments, Figure 4 , Figure 4 This is a schematic flow chart of a method for collecting microseismic signals assisted by a drone according to another embodiment of the present application.

[0131] like Figure 4 As shown, the signal strength of the initial microseismic geophone set deployed in the target area is detected to identify whether there is a microseismic geophone with abnormal signal strength in the initial microseismic geophone set, and the identified microseismic geophone with abnormal signal strength is determined as the first candidate microseismic geophone, such as Figure 4As shown, based on the first candidate microseismic geophone, the signal blind area and the signal weak coverage area in the target area are determined to obtain the candidate signal acquisition area with abnormal signal strength from the signal strength distribution diagram.

[0132] like Figure 4 As shown, the target collection sub-area of ​​each drone can be determined based on the number of devices in the drone cluster and the number of candidate signal collection areas, and the target flight path to reach the corresponding target collection sub-area can be determined for the drone based on at least one of the two strategies of shortest flight time and minimum flight energy consumption.

[0133] Furthermore, the first signal acquisition position of each UAV in its respective target acquisition sub-area is obtained, and microseismic signals are acquired and amplified based on the first signal acquisition position to obtain a candidate microseismic signal set in the target acquisition sub-area.

[0134] like Figure 4 As shown, in the process of UAV microseismic signal collection, the signal transmission distance between each UAV and the signal receiving device can be obtained, and then the UAVs with longer signal transmission distances can be identified as the UAVs that need to relay signal transmission.

[0135] Furthermore, based on the relay transmission mechanism, a relay drone corresponding to the drone is obtained from some drones between the drone and the signal receiving device, and relay transmission of the candidate microseismic signal set between the drone and the signal receiving device is realized based on the some relay drones.

[0136] like Figure 4 As shown, it is possible to identify whether the UAV at the first signal collection position is capable of achieving full coverage of microseismic signal collection in the target collection sub-area. When it is identified that the UAV at the first signal collection position is capable of achieving full coverage of microseismic signal collection in the target collection sub-area, the collected candidate microseismic signal set can be transmitted to the signal receiving device.

[0137] like Figure 4 As shown, when it is identified that the UAV at the first signal collection position cannot achieve full coverage of microseismic signal collection in the target collection sub-area, the second signal collection position of the UAV can be obtained, and the UAV can be adjusted to reach the second signal collection position to continue collecting microseismic signals, thereby obtaining a candidate microseismic signal set corresponding to the target collection sub-area.

[0138] Furthermore, based on the candidate microseismic signal sets transmitted by each UAV, a target microseismic signal set of the target area is obtained.

[0139] The drone-assisted microseismic signal collection method proposed in the present application screens candidate signal collection areas with abnormal signal strength in the target area to determine the target collection sub-areas of each drone, and collects microseismic signals in each target collection sub-area through the drone, thereby realizing the collection of microseismic signals in areas with abnormal signal strength. The target microseismic signal set is obtained through a drone cluster, which improves the timeliness and accuracy of the collection of microseismic signals in areas with abnormal signal strength, thereby improving the timeliness and accuracy of the collection of microseismic data carried in the microseismic signals. There is no need to deploy a separate base station, which reduces the cost of collecting microseismic signals in areas with abnormal signal strength, improves the flexibility of microseismic signal collection in the target area, optimizes the method of collecting microseismic signals, and thus improves the accuracy and timeliness of microseismic situation detection in the mine operation area, and optimizes the operation safety in the target area.

[0140] To better understand the above embodiments, Figure 5 , Figure 5 This is a schematic flow chart of a method for collecting microseismic signals assisted by a drone according to another embodiment of the present application.

[0141] like Figure 5 As shown, through Figure 5 The drone swarm shown can be used to Figure 5 Each microseismic geophone deployed in the target area in the microseismic geophone array shown in the figure collects microseismic signals, wherein the microseismic geophone can be Figure 5 The signal strength+position 1 module shown obtains the deployment position and signal strength of the microseismic detector 1, thereby identifying whether the microseismic detector 1 is the first candidate microseismic detector with abnormal signal strength.

[0142] Further, obtain Figure 5 The first candidate microseismic detector in the microseismic detector array is shown to obtain a candidate signal acquisition area with abnormal signal strength in the target area. Further, based on the candidate signal acquisition area, Figure 5 The target acquisition sub-area of ​​each drone in the drone cluster is shown to acquire a candidate microseismic signal set of each target acquisition sub-area.

[0143] like Figure 5 As shown, the position information and remaining power information of UAV 1 can be obtained through the power position signal 1 of UAV 1 in the UAV cluster, wherein, based on the position information of UAV 1, it can be identified whether UAV 1 needs to perform relay signal transmission, and when it is identified that UAV 1 needs to perform relay transmission, the relay UAV of UAV 1 is obtained from the UAV cluster, so as to transmit the candidate microseismic data set obtained by UAV 1 to the signal receiving device through each relay UAV.

[0144] Furthermore, the endurance of drone 1 can be obtained according to the remaining power of drone 1, so as to identify whether drone 1 needs to be recalled. When it is identified that drone 1 needs to be recalled, the task taking over drone of drone 1 is obtained from the drone cluster, and the task taking over drone is controlled to continue collecting microseismic signals in the target collection sub-area corresponding to drone 1, and drone 1 is recalled.

[0145] It should be noted that Figure 5 The specific contents of other modules shown can be understood in conjunction with the relevant information of the above-mentioned drone 1 and microseismic geophone 1, and will not be repeated here.

[0146] The drone-assisted microseismic signal collection method proposed in the present application screens candidate signal collection areas with abnormal signal strength in the target area to determine the target collection sub-areas of each drone, and collects microseismic signals in each target collection sub-area through the drone, thereby realizing the collection of microseismic signals in areas with abnormal signal strength. The target microseismic signal set is obtained through a drone cluster, which improves the timeliness and accuracy of the collection of microseismic signals in areas with abnormal signal strength, thereby improving the timeliness and accuracy of the collection of microseismic data carried in the microseismic signals. There is no need to deploy a separate base station, which reduces the cost of collecting microseismic signals in areas with abnormal signal strength, improves the flexibility of microseismic signal collection in the target area, optimizes the method of collecting microseismic signals, and thus improves the accuracy and timeliness of microseismic situation detection in the mine operation area, and optimizes the operation safety in the target area.

[0147] Corresponding to the drone-assisted microseismic signal acquisition methods proposed in the above-mentioned embodiments, an embodiment of the present disclosure further proposes a drone-assisted microseismic signal acquisition device. Since the drone-assisted microseismic signal acquisition device proposed in the embodiment of the present disclosure corresponds to the drone-assisted microseismic signal acquisition methods proposed in the above-mentioned embodiments, the implementation methods of the above-mentioned drone-assisted microseismic signal acquisition methods are also applicable to the drone-assisted microseismic signal acquisition device proposed in the embodiment of the present disclosure, and will not be described in detail in the following embodiments.

[0148] Figure 6 FIG. 1 is a schematic diagram of a microseismic signal acquisition device assisted by a drone according to an embodiment of the present disclosure. Figure 6 As shown, the microseismic signal acquisition device 600 assisted by a drone includes an acquisition module 61, a determination module 62 and an acquisition module 63, wherein:

[0149] An acquisition module 61 is used to acquire a target area to which the initial microseismic wave detector set belongs, and to acquire a candidate signal acquisition area with abnormal signal strength from the target area;

[0150] A determination module 62, configured to determine a target acquisition sub-area for each drone in the drone cluster according to the candidate signal acquisition area;

[0151] The acquisition module 63 is used to acquire microseismic signals from each target acquisition sub-area through a drone cluster to obtain a target microseismic signal set in the target area.

[0152] In the embodiment of the present application, the acquisition module 63 is also used to: for any unmanned aerial vehicle, perform path planning for the unmanned aerial vehicle and the target acquisition sub-area corresponding to the unmanned aerial vehicle, obtain a candidate flight path set corresponding to the unmanned aerial vehicle, and determine the target flight path of the unmanned aerial vehicle to reach the target acquisition sub-area based on the candidate flight path set, wherein the target flight path is determined from the candidate flight path set based on a screening strategy corresponding to the shortest flight time and / or a screening strategy corresponding to the lowest flight energy consumption; control the unmanned aerial vehicle to reach the target acquisition sub-area based on the target flight path, so as to determine a first signal acquisition position of the unmanned aerial vehicle in the target acquisition sub-area, wherein the first signal acquisition position is determined based on the three-dimensional coordinate information of the unmanned aerial vehicle in the target acquisition sub-area; based on the unmanned aerial vehicle at the first signal acquisition position, perform microseismic signal acquisition on the target acquisition sub-area to obtain an initial microseismic signal set of the target acquisition sub-area, and perform signal strength gain on the initial microseismic signal set to obtain a candidate microseismic signal set of the target acquisition sub-area; based on the candidate microseismic signal sets of each target acquisition sub-area, obtain a target microseismic signal set of the target area.

[0153] In the embodiment of the present application, the acquisition module 63 is also used to: for any drone, identify whether the drone at the first signal acquisition position can achieve full coverage microseismic signal acquisition for the target acquisition sub-area corresponding to the drone; in response to identifying that the drone at the first signal acquisition position cannot achieve full coverage microseismic signal acquisition for the target acquisition sub-area, adjust the first signal acquisition position to the second signal acquisition position, wherein the second signal acquisition position is used to achieve full coverage microseismic signal acquisition for the target acquisition sub-area by the drone; control the drone to move to the second signal acquisition position to perform full coverage microseismic signal acquisition for the target acquisition sub-area, and obtain a candidate microseismic signal set for the target acquisition sub-area.

[0154] In the embodiment of the present application, the acquisition module 63 is also used to: for any UAV, obtain the signal transmission range of the target acquisition sub-area corresponding to the UAV, and the first coverage acquisition range of the UAV at the first signal acquisition position in the target acquisition sub-area; based on the first coverage acquisition range and the signal transmission range, obtain the signal acquisition coverage rate of the UAV at the first signal acquisition position; in response to the signal acquisition coverage rate being less than or equal to a preset coverage rate threshold, determine and identify that the UAV at the first signal acquisition position cannot achieve full coverage microseismic signal acquisition in the target acquisition sub-area.

[0155] In the embodiment of the present application, the acquisition module 61 is further used for:

[0156] A preset signal strength detection position is obtained, and based on the signal strength detection position, a signal strength detection is performed on each initial microseismic wave detector, and a first candidate microseismic wave detector subset with abnormal signal strength and a second candidate microseismic wave detector subset with normal signal strength are obtained from the initial microseismic wave detector set to obtain a microseismic wave detector distribution map of the target area, and the signal strength of the microseismic wave detector distribution map is annotated based on the first candidate microseismic wave detector subset and the second candidate microseismic wave detector subset to obtain a labeled signal strength distribution map; the signal strength distribution map is divided into signal strength regions to divide candidate signal acquisition regions with abnormal signal strength from the signal strength distribution map.

[0157] In an embodiment of the present application, the acquisition module 61 is also used to: obtain the number of devices in the drone cluster and the number of candidate signal collection areas; based on the number of devices and the number of areas, plan the collection area for the drone cluster to obtain the target collection sub-area of ​​each drone.

[0158] In an embodiment of the present application, the device also includes a relay module, which is used to: obtain the signal transmission distance between each drone and the signal receiving device; for any drone, in response to the signal transmission distance corresponding to the drone being greater than or equal to a preset transmission distance threshold, obtain the relay drone corresponding to the drone from the drone cluster, and transmit the candidate microseismic signal set collected by the drone to the signal receiving device through the relay drone.

[0159] In an embodiment of the present application, the device also includes a recall module, which is used to: obtain the flight time of each drone in the drone cluster; for any drone, in response to the drone's flight time being less than or equal to a preset flight time threshold, obtain a task-taking-over drone from the drone cluster, control the task-taking-over drone to perform the drone's signal collection task, and recall the drone.

[0160] The microseismic signal acquisition device assisted by a drone proposed in the present application obtains the target area to which the initial microseismic wave detector set belongs, and obtains the candidate signal acquisition area with abnormal signal strength from the target area, thereby determining the target acquisition sub-area of ​​each drone in the candidate signal acquisition area, and collecting microseismic signals from each target acquisition sub-area through each drone to obtain the target microseismic signal set of the target area. In the present application, the candidate signal acquisition area with abnormal signal strength in the target area is screened to determine the target acquisition sub-area of ​​each drone, and the acquisition of microseismic signals in each target acquisition sub-area is realized through the drone, so as to realize the acquisition of microseismic signals in the area with abnormal signal strength, and obtain the target microseismic signal set through the drone cluster, thereby improving the timeliness and accuracy of the acquisition of microseismic signals in the area with abnormal signal strength, thereby improving the timeliness and accuracy of the acquisition of microseismic data carried in the microseismic signals, without the need for the deployment of a separate base station, reducing the acquisition cost of microseismic signals in the area with abnormal signal strength, improving the flexibility of the acquisition of microseismic signals in the target area, optimizing the acquisition method of microseismic signals, thereby improving the accuracy and timeliness of the detection of microseismic conditions in the mine operation area, and optimizing the operation safety of the target area.

[0161] To achieve the above embodiments, the present application also provides an electronic device, a computer-readable storage medium and a computer program product.

[0162] Figure 7 A block diagram of an electronic device according to an embodiment of the present application is shown in FIG. Figure 7 As shown, the device 700 includes a memory 71, a processor 72, and a computer program stored in the memory 71 and executable on the processor 72. When the processor 71 executes the program instructions, the execution is realized. Figures 1 to 5 The embodiment provides a method for collecting microseismic signals assisted by a drone.

[0163] In order to implement the above embodiments, the present application also provides a non-transitory computer-readable storage medium storing computer instructions, the computer instructions are used to enable the computer to execute Figures 1 to 5 The embodiment provides a method for collecting microseismic signals assisted by a drone.

[0164] In order to implement the above embodiment, the present application also provides a computer program product. When the instruction processor in the computer program product executes, Figures 1 to 5 The embodiment provides a method for collecting microseismic signals assisted by a drone.

[0165] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0166] In addition, 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 the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0167] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0168] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0169] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0170] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0171] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0172] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for collecting microseismic signals assisted by an unmanned aerial vehicle, characterized in that: The method comprises: Acquire a target region to which the initial microseismic wave detector set belongs, and acquire a candidate signal acquisition region with abnormal signal strength from the target region; Determine the target acquisition sub-area of ​​each drone in the drone cluster according to the candidate signal acquisition area; Microseismic signals are collected in each target collection sub-area by using the drone cluster to obtain a target microseismic signal set in the target area.

2. The method according to claim 1, characterized in that The collecting of microseismic signals in each target collection sub-area by the drone cluster to obtain a target microseismic signal set in the target area includes: For any UAV, path planning is performed on the UAV and the target collection sub-area corresponding to the UAV to obtain a candidate flight path set corresponding to the UAV, so as to determine a target flight path for the UAV to reach the target collection sub-area based on the candidate flight path set, wherein the target flight path is determined from the candidate flight path set based on a screening strategy corresponding to the shortest flight time and / or a screening strategy corresponding to the lowest flight energy consumption; Control the UAV to reach the target acquisition sub-area based on the target flight path to determine a first signal acquisition position of the UAV in the target acquisition sub-area, wherein the first signal acquisition position is determined based on the three-dimensional coordinate information of the UAV in the target acquisition sub-area; Based on the UAV at the first signal collection position, microseismic signals are collected in the target collection sub-area to obtain an initial microseismic signal set in the target collection sub-area, and signal strength gain is performed on the initial microseismic signal set to obtain a candidate microseismic signal set in the target collection sub-area; Based on the candidate microseismic signal sets of each target acquisition sub-area, the target microseismic signal set of the target area is obtained.

3. The method according to claim 2, characterized in that The method further comprises: For any UAV, identifying whether the UAV at the first signal collection position can achieve full coverage microseismic signal collection for the target collection sub-area corresponding to the UAV; In response to identifying that the drone at the first signal collection position cannot achieve full coverage microseismic signal collection of the target collection sub-area, adjusting the first signal collection position to a second signal collection position, wherein the second signal collection position is used to achieve full coverage microseismic signal collection of the target collection sub-area by the drone; The UAV is controlled to move to the second signal collection position to collect microseismic signals covering the target collection sub-area in full, and obtain a candidate microseismic signal set in the target collection sub-area.

4. The method according to claim 3, characterized in that The step of identifying, for any UAV, whether the UAV at the first signal collection position can achieve full coverage microseismic signal collection for the target collection sub-area corresponding to the UAV includes: For any UAV, obtain a signal transmission range of a target collection sub-area corresponding to the UAV, and a first coverage collection range of the UAV at the first signal collection position in the target collection sub-area; Based on the first coverage collection range and the signal transmission range, obtaining the signal collection coverage rate of the UAV at the first signal collection position; In response to the signal acquisition coverage being less than or equal to a preset coverage threshold, it is determined that the unmanned aerial vehicle at the first signal acquisition position is unable to achieve full coverage microseismic signal acquisition in the target acquisition sub-area.

5. The method according to claim 1, characterized in that The step of obtaining a target region to which the initial microseismic wave detector set belongs, and obtaining a candidate signal acquisition region with abnormal signal strength from the target region includes: Acquire a preset signal strength detection position, and perform signal strength detection on each initial microseismic wave detector based on the signal strength detection position, and acquire a first candidate microseismic wave detector subset with abnormal signal strength and a second candidate microseismic wave detector subset with normal signal strength from the initial microseismic wave detector set; Acquire a microseismic wave detector distribution map of the target area, and annotate the signal strength of the microseismic wave detector distribution map based on the first candidate microseismic wave detector subset and the second candidate microseismic wave detector subset to obtain a labeled signal strength distribution map; The signal strength distribution diagram is divided into signal strength regions to divide candidate signal collection regions with abnormal signal strength from the signal strength distribution diagram.

6. The method according to claim 5, characterized in that The determining of the target acquisition sub-area of ​​each UAV based on the candidate signal acquisition area includes: Obtain the number of devices in the drone cluster and the number of candidate signal collection areas; Based on the number of devices and the number of areas, the collection area of ​​the drone cluster is planned to obtain the target collection sub-area of ​​each drone.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Obtain the signal transmission distance between each drone and the signal receiving device; For any UAV, in response to the signal transmission distance corresponding to the UAV being greater than or equal to a preset transmission distance threshold, a relay UAV corresponding to the UAV is obtained from the UAV cluster, and the candidate microseismic signal set collected by the UAV is transmitted to the signal receiving device through the relay UAV.

8. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Obtaining the flight time of each drone in the drone cluster; For any drone, in response to the drone's flight time being less than or equal to a preset flight time threshold, a task-taking-over drone of the drone is obtained from the drone cluster, and the task-taking-over drone is controlled to perform the drone's signal collection task, and the drone is recalled.

9. A microseismic signal acquisition device assisted by a drone, characterized in that: The device comprises: An acquisition module, used to acquire a target area to which the initial microseismic wave detector set belongs, and to acquire a candidate signal acquisition area with abnormal signal strength from the target area; A determination module, used to determine a target acquisition sub-area for each drone in the drone cluster according to the candidate signal acquisition area; The acquisition module is used to acquire microseismic signals from each target acquisition sub-area through the drone cluster to obtain a target microseismic signal set in the target area.

10. An electronic device, characterized in that: include: processor; a memory for storing executable instructions for the processor; The processor is configured to execute instructions to implement the method as claimed in any one of claims 1 to 8.

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