Microseismic signal acquisition method, device and equipment under assistance of unmanned aerial vehicle and medium

Abstract

The application provides a microseismic signal collection method, device, equipment and medium under the assistance of a UAV, comprising: obtaining a target area to which an initial microseismic wave detector set belongs, and obtaining a candidate signal collection area with abnormal signal strength from the target area; determining a target collection sub-area of each UAV in a UAV cluster according to the candidate signal collection area; and collecting microseismic signals in each target collection sub-area by the UAV cluster to obtain a target microseismic signal set of the target area, thereby improving the timeliness and accuracy of the collection of microseismic signals in the area with abnormal signal strength, improving the timeliness and accuracy of the collection of microseismic data carried in the microseismic signals, reducing the collection cost of the microseismic signals in the area with abnormal signal strength without separately arranging a base station, improving the flexibility of the collection of microseismic signals in the target area, optimizing the collection method of the microseismic signals, and improving the accuracy and timeliness of the detection of the microseismic condition of the mine operation area.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and particularly relates to a microseismic signal acquisition method and device under the assistance of an unmanned aerial vehicle, an equipment and a medium. BACKGROUND

[0002] In the scene of hydraulic fracturing operation of a coal seam roof, high-pressure water flow can cause cracks in the coal seam roof, and the hydraulic fracturing crack situation needs to be monitored in real time. In the related technology, corresponding microseismic data acquisition equipment can be arranged on the ground corresponding to the operation area, and the overall crack situation 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 scene, the complexity of the topography of the mine operation area can cause a certain degree of influence on the reception of each microseismic data, and the timeliness and accuracy of the data are poor. SUMMARY

[0004] The present application aims to at least solve one of the above technical problems to some extent.

[0005] The first aspect of the present application provides a microseismic signal acquisition method under the assistance of an unmanned aerial vehicle, comprising: obtaining a target area to which an initial microseismic wave detector set belongs, and obtaining a candidate signal acquisition area with abnormal signal intensity from the target area; determining target acquisition sub-areas of each unmanned aerial vehicle in a cluster of unmanned aerial vehicles according to the candidate signal acquisition area; and performing microseismic signal acquisition on each target acquisition sub-area by the cluster of unmanned aerial vehicles to obtain a target microseismic signal set of the target area.

[0006] The second aspect of the present application provides a microseismic signal acquisition device under the assistance of an unmanned aerial vehicle, comprising: an acquisition module, configured to obtain a target area to which an initial microseismic wave detector set belongs, and obtain a candidate signal acquisition area with abnormal signal intensity from the target area; a determination module, configured to determine target acquisition sub-areas of each unmanned aerial vehicle in a cluster of unmanned aerial vehicles according to the candidate signal acquisition area; and an acquisition module, configured to perform microseismic signal acquisition on each target acquisition sub-area by the cluster of unmanned aerial vehicles to obtain a target microseismic signal set of the target area.

[0007] The third aspect of the present application provides an electronic device, comprising: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to execute the instructions to implement the microseismic signal acquisition method under the assistance of an unmanned aerial vehicle as proposed in the first aspect.

[0008] The fourth aspect of the present disclosure provides a computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can execute the microseismic signal acquisition method assisted by the unmanned aerial vehicle as described in the first aspect.

[0009] The microseismic signal acquisition method and device assisted by the unmanned aerial vehicle provided in the present application obtain a target area to which an initial microseismic wave detector set belongs, and obtain a candidate signal acquisition area with abnormal signal strength from the target area, and then determine a target acquisition sub-area of each unmanned aerial vehicle in the candidate signal acquisition area. The microseismic signal acquisition method and device assisted by the unmanned aerial vehicle provided in the present application obtain a target microseismic signal set of the target area by each unmanned aerial vehicle performing microseismic signal acquisition on each target acquisition sub-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 unmanned aerial vehicle, and the microseismic signal acquisition of each target acquisition sub-area is realized by the unmanned aerial vehicle. The acquisition of the microseismic signal of the area with abnormal signal strength is realized, and the target microseismic signal set is obtained by the cluster of unmanned aerial vehicles. The timeliness and accuracy of the acquisition of the microseismic signal of the area with abnormal signal strength are improved, thereby improving the timeliness and accuracy of the microseismic data carried in the microseismic signal. The acquisition cost of the microseismic signal of the area with abnormal signal strength is reduced, the flexibility of the microseismic signal acquisition of the target area is improved, the microseismic signal acquisition method is optimized, and the accuracy and timeliness of the detection of the microseismic condition of the mine operation area are improved. The operation safety of the target area is optimized.

[0010] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter in the description. BRIEF DESCRIPTION OF DRAWINGS

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

[0012] Figure 1 A flowchart of a microseismic signal acquisition method assisted by an unmanned aerial vehicle according to an embodiment of the present application;

[0013] Figure 2 A flowchart of a microseismic signal acquisition method assisted by an unmanned aerial vehicle according to another embodiment of the present application;

[0014] Figure 3 A flowchart of a microseismic signal acquisition method assisted by an unmanned aerial vehicle according to another embodiment of the present application;

[0015] Figure 4 A flowchart of a microseismic signal acquisition method assisted by an unmanned aerial vehicle according to another embodiment of the present application;

[0016] Figure 5 FIG. 1 is a flowchart of a microseismic signal acquisition method assisted by a UAV according to an embodiment of the present application;

[0017] Figure 6 FIG. 2 is a structural diagram of a microseismic signal acquisition device assisted by a UAV according to an embodiment of the present application;

[0018] Figure 7 FIG. 3 is a block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar components have the same or similar designations and functions throughout. The embodiments described below are exemplary and are intended to explain the present application, and are not to be understood as limiting the present application.

[0020] A microseismic signal acquisition method, device, equipment and medium assisted by a UAV according to an embodiment of the present application are described below with reference to the accompanying drawings.

[0021] Figure 1 FIG. 1 is a flowchart of a microseismic signal acquisition method assisted by a UAV according to an embodiment of the present application, as shown in the figure, the method comprises: Figure 1

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

[0023] In an actual working scenario, water power in a mine may cause cracks on the ground of a working area. In this scenario, the mine working scenario needs to acquire microseismic signals to detect the ground crack situation of the working area. The cracks on the ground of the working area caused by water power and other forces can be regarded as microseismic.

[0024] Optionally, a certain number of microseismic wave detectors can be arranged in the working area that needs to be detected, and the detection of the microseismic situation of the working area is realized through the microseismic signals sent by the microseismic wave detectors. The detection area where the microseismic wave detectors are arranged can be marked as a target area, and each microseismic wave detector arranged in the target area can be marked as each initial microseismic wave detector in the target area. Then, a set composed of each initial microseismic wave detector is determined as an initial microseismic wave detector set in the target area.

[0025] ​In the embodiment of the present application, when the initial microseismic wave detectors collect microseismic signals, the signal strengths of the collected microseismic signals may differ. In this case, the microseismic signals transmitted by each initial microseismic wave detector can be acquired, and the signal strengths of the microseismic signals can be detected based on the signal strength detection method in the related art. Then, according to the detection result, a part of the region in which the signal abnormality occurs can be selected from the target region, and the part of the region is marked as the signal abnormality coverage region in the target region.

[0026] Optionally, when the signal strengths of the microseismic signals transmitted by the initial microseismic wave detectors are detected, the microseismic signals transmitted by some initial microseismic wave detectors may not be detected. In this case, the region in which the initial microseismic wave detectors that are not detected are arranged can be marked as the signal blind area in the target region.

[0027] In this case, the signal abnormality coverage region and the signal blind area can be acquired from the target region, and the region composed of the signal abnormality coverage region and the signal blind area is determined as the candidate signal collection region in which the signal strength abnormality occurs in the target region.

[0028] In S102, target collection sub-regions of each unmanned aerial vehicle in the unmanned aerial vehicle cluster are determined according to the candidate signal collection region.

[0029] In the embodiment of the present application, the candidate signal collection region is a region in which the signal strength abnormality occurs. In this case, the microseismic signals emitted by the initial microseismic wave detectors arranged in the candidate signal collection region can be collected by controlling the unmanned aerial vehicles.

[0030] Optionally, the candidate signal collection region can be divided into a plurality of sub-regions, and the operation region in which each unmanned aerial vehicle included in the unmanned aerial vehicle cluster collects signals is determined from the plurality of sub-regions, which is marked as the target collection sub-region of each unmanned aerial vehicle.

[0031] In S103, the microseismic signals of each target collection sub-region are collected by the unmanned aerial vehicle cluster to obtain a target microseismic signal set of the target region.

[0032] In the embodiment of the present application, each unmanned aerial vehicle in the unmanned aerial vehicle cluster can collect the microseismic signals of the target collection sub-region corresponding to the signal strength abnormality.

[0033] Optionally, each unmanned aerial vehicle can be controlled to reach the target collection sub-region corresponding to the unmanned aerial vehicle based on the unmanned aerial vehicle control method in the related art, and each unmanned aerial vehicle can be controlled to perform the signal collection task of each target collection sub-region based on the preset signal collection method.

[0034] Further, based on the microseismic signals collected by each target acquisition sub-region, a total microseismic signal set of the target region is obtained, which is marked as a target microseismic signal set of the target region.

[0035] The microseismic signal acquisition method assisted by the unmanned aerial vehicle provided in the present application acquires a target region to which an initial microseismic wave detector set belongs, acquires a candidate signal acquisition region with abnormal signal strength from the target region, further determines a target acquisition sub-region of each unmanned aerial vehicle in the candidate signal acquisition region, acquires microseismic signals of each target acquisition sub-region by each unmanned aerial vehicle, and obtains a target microseismic signal set of the target region. In the present application, the candidate signal acquisition region with abnormal signal strength in the target region is screened to determine the target acquisition sub-region of each unmanned aerial vehicle, and the microseismic signals of each target acquisition sub-region are acquired by the unmanned aerial vehicle, which realizes the acquisition of the microseismic signals of the region with abnormal signal strength, obtains the target microseismic signal set by the cluster of unmanned aerial vehicles, improves the timeliness and accuracy of the acquisition of the microseismic signals of the region with abnormal signal strength, thereby improves the timeliness and accuracy of the microseismic data carried in the microseismic signals, does not need to separately arrange a base station, reduces the acquisition cost of the microseismic signals of the region with abnormal signal strength, improves the flexibility of the microseismic signal acquisition of the target region, optimizes the microseismic signal acquisition method, and further improves the accuracy and timeliness of the detection of the microseismic condition of the mine operation region, and optimizes the operation safety of the target region.

[0036] In the above embodiments, the microseismic signal acquisition method assisted by the unmanned aerial vehicle can also be combined with Figure 2 It is understood that Figure 2 The flowchart of the microseismic signal acquisition method assisted by the unmanned aerial vehicle according to another embodiment of the present application is shown in FIG. 2, which includes the following steps. Figure 2

[0037] S201, a preset signal strength detection position is acquired, and signal strength detection is performed on each initial microseismic wave detector based on the signal strength detection position, 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 acquired from the initial microseismic wave detector set.

[0038] In the embodiments of the present application, the signal strength of the signal emitted by each initial microseismic wave detector arranged in the target region can be detected, wherein the position for performing the signal strength detection can be marked as the signal strength detection position.

[0039] It should be noted that the ground signal strength detection device can be arranged at the signal strength detection position, or the unmanned aerial vehicle configured with the signal strength detection module can be arranged at the signal strength detection position, which is not limited here.

[0040] ​Optionally, the signal intensity of the microseismic signal emitted by each initial microseismic wave detector in the target region can be detected at the signal intensity detection position to obtain the signal intensity of the microseismic signal emitted by each initial microseismic wave detector.

[0041] In the embodiments of the present application, the microseismic signal emitted by each initial microseismic wave detector may or may not be detected when the microseismic signal intensity is detected. In this case, the setting area of the initial microseismic wave detector that is not detected can be marked as a signal blind area in the target region, and the setting area of the part of the initial microseismic wave detector that appears abnormal signal intensity among the detected initial microseismic wave detector can be marked as an intensity abnormal signal weak coverage area in the target region.

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

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

[0044] As an example, the signal intensity detection position is set as x, y, z, wherein x, y, z are the position coordinates of the unmanned aerial vehicle configured with the signal intensity detection module at the signal intensity detection position, and the signal intensity threshold is S min .

[0045] In this example, the signal intensity S(x, y, z) of the microseismic signal emitted by any initial microseismic wave detector is compared with the signal intensity threshold S min . When S(x, y, z) ≤ S min , it is determined that the initial microseismic wave detector is the first candidate microseismic wave detector, and when the unmanned aerial vehicle at the x, y, z position cannot detect the microseismic signal emitted by the initial microseismic wave detector, it is determined that the initial microseismic wave detector is the first candidate microseismic wave detector.

[0046] Further, 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 first candidate microseismic wave detector subset with abnormal signal strength in the initial microseismic wave detector set is obtained.

[0047] Correspondingly, each initial microseismic wave detector is filtered based on the first candidate microseismic wave detector set, and part of the initial microseismic wave detectors obtained after the filtering are determined as second candidate microseismic wave detectors with normal signal strength in the initial microseismic wave detectors, and then a second candidate microseismic wave detector subset composed of the second candidate microseismic wave detectors is obtained.

[0048] S202, obtaining a microseismic wave detector distribution map of the target area, and performing signal strength labeling on 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 the embodiment of the application, the deployment of the microseismic wave detector in the target area can be drawn into a distribution map based on the deployment position information of each initial microseismic wave detector in the target area by using a distribution map drawing method in the related art, and the drawn distribution map is determined as the microseismic wave detector distribution map of the target area.

[0050] Optionally, the deployment positions and respective signal strength detection information of each first candidate microseismic wave detector in the first candidate microseismic wave detector subset can be obtained and labeled in the microseismic wave detector distribution map of the target area, and the deployment positions and respective signal strength detection information of each second candidate microseismic wave detector in the second candidate microseismic wave detector subset can be obtained and labeled in the microseismic wave detector distribution map of the target area, so as to realize the signal strength labeling on 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 labeled distribution map carries the position information and signal strength information of each microseismic wave detector, and the labeled 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 to divide a candidate signal collection area with abnormal signal strength from the signal strength distribution map.

[0053] As a possible implementation manner, the coverage of the microseismic signals emitted by each microseismic wave detector can be acquired based on the signal strength corresponding to each microseismic wave detector deployed in the target region, and the division boundary when the signal strength region is divided based on the signal strength distribution map is determined based on each coverage, and then the signal strength region is divided based on the signal strength distribution map based on each division boundary, and each region obtained after the division is determined as each initial signal collection region in the target region.

[0054] Further, the region in which each first candidate microseismic wave detector is deployed is screened out from each initial signal collection region, and is determined as a candidate signal collection region in the target region.

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

[0056] S204, based on the candidate signal collection region, determining the target collection sub-region of each unmanned aerial vehicle.

[0057] Optionally, the number of devices of the unmanned aerial vehicle cluster and the number of regions of the candidate signal collection region are acquired, and the collection region planning of the unmanned aerial vehicle cluster is performed based on the number of devices and the number of regions, so as to obtain the target collection sub-region of each unmanned aerial vehicle.

[0058] As an example, the collection region planning of each unmanned aerial vehicle can be implemented based on the following expression, so as to obtain the target collection sub-region of each unmanned aerial vehicle:

[0059]

[0060] In the above expression, N represents the number of devices of the unmanned aerial vehicle in the unmanned aerial vehicle cluster, M represents the number of regions in the candidate signal collection region, D i,j represents the distance from the i-th unmanned aerial vehicle to the j-th candidate signal collection region.

[0061] It can be understood that for any unmanned aerial vehicle, the distance from the unmanned aerial vehicle to each candidate signal collection region can be acquired, and the candidate signal collection region with the shortest distance is screened out from each distance, and the region is the target collection sub-region of the unmanned aerial vehicle for signal collection.

[0062] S205, for any unmanned aerial vehicle, path planning is performed on the unmanned aerial vehicle and the target acquisition sub-area corresponding to the unmanned aerial vehicle to obtain a candidate flight path set corresponding to the unmanned aerial vehicle, and a target flight path of the unmanned aerial vehicle to the target acquisition sub-area is determined based on the candidate flight path set, wherein the target flight path is determined from the candidate flight path set based on a selection strategy corresponding to the shortest flight time and / or a selection strategy corresponding to the lowest flight energy.

[0063] In the embodiments of the present application, based on the path planning algorithm in the related art, each planning path of any unmanned aerial vehicle to its corresponding target acquisition sub-area can be obtained, thereby obtaining a candidate flight path set composed of each planning path.

[0064] Further, the flight time dimension of each candidate flight path is compared, and the path with the shortest flight time is selected as the target flight path of the unmanned aerial vehicle to the target acquisition sub-area.

[0065] In addition, the flight energy dimension of each candidate flight path can also be compared, and the path with the minimum flight energy is selected as the target flight path of the unmanned aerial vehicle to the target acquisition sub-area.

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

[0067]

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

[0069] In this example, the minimum flight time and the minimum flight energy of the unmanned aerial vehicle to its corresponding target acquisition sub-area can be planned based on the above formula, thereby obtaining the target flight path corresponding to the unmanned aerial vehicle.

[0070] S206, based on the target flight path, the unmanned aerial vehicle reaches the target acquisition sub-area to determine the 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.

[0071] In the embodiments of the present application, after the unmanned aerial vehicle reaches the target acquisition sub-area, the microseismic signal emitted by the microseismic detector in the region can be acquired based on the set position, and the position of the unmanned aerial vehicle during signal acquisition can be determined as the first signal acquisition position of the unmanned aerial vehicle.

[0072] The first signal collection position can be determined based on three-dimensional coordinates of the unmanned aerial vehicle, and the three-dimensional coordinates can include a flight height of the unmanned aerial vehicle.

[0073] As an example, the flight height of the unmanned aerial vehicle can be obtained based on the following formula:

[0074]

[0075] In the formula, H represents the flight height of the unmanned aerial vehicle, S rec (H) represents the signal strength of the microseismic signal received by the unmanned aerial vehicle at the position with the flight height H, E H (H) represents the flight energy consumption required by the unmanned aerial vehicle at the position with the flight height H.

[0076] Optionally, after obtaining the flight height of the unmanned aerial vehicle, the remaining coordinate information of the unmanned aerial vehicle in the target collection sub-region can be determined based on the signal collection range of the unmanned aerial vehicle, and then the three-dimensional coordinate information of the unmanned aerial vehicle in the target collection sub-region is obtained as the first signal collection position.

[0077] S207, based on the unmanned aerial vehicle at the first signal collection position, collecting microseismic signals of the target collection sub-region to obtain an initial microseismic signal set of the target collection sub-region, and performing signal strength gain on the initial microseismic signal set to obtain a candidate microseismic signal set of the target collection sub-region.

[0078] In the embodiments of the present application, for any unmanned aerial vehicle, the unmanned aerial vehicle at the first signal collection position can collect the microseismic signals emitted by each microseismic wave detector in the target collection sub-region based on the signal collection method in the related art, and determine the set of collected microseismic signals as the initial microseismic signal set of the target collection sub-region.

[0079] In the embodiments of the present application, the unmanned aerial vehicle has a set signal collection range. In this scenario, the unmanned aerial vehicle at the first signal collection position can not be able to achieve full coverage signal collection of the target collection sub-region. In this scenario, the signal collection position of the unmanned aerial vehicle can be adjusted to achieve full coverage collection of each microseismic signal in the target collection sub-region by the unmanned aerial vehicle.

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

[0081] For any unmanned aerial vehicle, the signal emission range of the target collection sub-region corresponding to the unmanned aerial vehicle is obtained, and the first coverage collection range of the unmanned aerial vehicle at the first signal collection position in the target collection sub-region is obtained.

[0082] In the embodiments of the present application, the preset collection range of the unmanned aerial vehicle at the first signal collection position can be acquired, and the range is marked as the first coverage collection range of the unmanned aerial vehicle in the target collection sub-region. In addition, the signal radiation range of the microseismic signal emitted by each microseismic wave detector in the target collection region is acquired, and the signal emission range of the target collection sub-region is obtained based on the signal radiation range.

[0083] As a possible implementation manner, the first coverage collection range and the signal emission range can be compared in terms of coverage degree. When the first coverage collection range cannot completely cover the signal emission range, it is determined that the unmanned aerial vehicle at the first signal collection position cannot realize the full-coverage microseismic signal collection of the target collection sub-region.

[0084] As another possible implementation manner, based on the first coverage collection range and the signal emission range, the signal collection coverage rate of the unmanned aerial vehicle at the first signal collection position is acquired. In response to the signal collection coverage rate being less than or equal to a preset coverage rate threshold, it is determined that the unmanned aerial vehicle at the first signal collection position cannot realize the full-coverage microseismic signal collection of the target collection sub-region.

[0085] In the embodiments of the present application, the first coverage collection range and the signal emission range can be processed by an algorithm based on the coverage rate algorithm in the related art. The coverage rate of the first coverage collection range based on the signal emission range is obtained according to the result of the algorithm processing, and is marked as the signal collection coverage rate of the unmanned aerial vehicle at the first signal collection position.

[0086] In this scenario, the signal collection coverage rate can be compared with the preset coverage rate threshold. When the comparison result indicates that the signal collection coverage rate is less than or equal to the coverage rate threshold, it is determined that the unmanned aerial vehicle at the first signal collection position cannot realize the full-coverage microseismic signal collection of the target collection sub-region.

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

[0088]

[0089] In the above formula, C represents the signal collection coverage rate, S F represents the first coverage collection range, S 总 represents the signal emission range of the target region, wherein C→1, that is, C approaches to 1.

[0090] In the embodiments of the present application, when it is identified that the unmanned aerial vehicle at the first signal collection position cannot realize the full-coverage microseismic signal collection of the target collection sub-region, the signal collection position of the unmanned aerial vehicle can be adjusted.

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

[0092] In the embodiments of the present application, the signal collection position at which the unmanned aerial vehicle can achieve full-coverage microseismic signal collection of the target collection sub-region can be obtained based on a preset algorithm, and the signal collection position obtained based on the algorithm is determined as the second signal collection position to which the unmanned aerial vehicle needs to be adjusted in the target collection sub-region.

[0093] As an example, the algorithm formula of signal collection coverage rate proposed in the above example can be used to calculate the coverage rate of each position in the target collection sub-region that can provide signal collection for the unmanned aerial vehicle, and then the second signal collection position at which the unmanned aerial vehicle can achieve full-coverage microseismic signal collection of the target collection sub-region is selected from all positions according to the calculation result.

[0094] It should be noted that when determining the second signal collection position of the unmanned aerial vehicle, the signal strength of the microseismic signal collected by the unmanned aerial vehicle at the second signal collection position also needs to be considered. It can be understood that, from each position in the target collection sub-region that can provide signal collection for the unmanned aerial vehicle, a position that can satisfy both full-coverage microseismic signal collection of the target collection sub-region and signal strength of the collected microseismic signal greater than a signal strength threshold can be selected as the second signal collection position to which the unmanned aerial vehicle needs to be adjusted.

[0095] Optionally, the unmanned aerial vehicle is controlled to move to the second signal collection position to perform full-coverage microseismic signal collection on the target collection sub-region, and obtain a candidate microseismic signal set of the target collection sub-region.

[0096] In the embodiments of the present application, after obtaining the second signal collection position, the unmanned aerial vehicle can be controlled to fly from the first signal collection position to the second signal collection position, and continue to collect each microseismic signal in the target collection sub-region at the second signal collection position, thereby achieving full-coverage microseismic signal collection of the target collection sub-region by the unmanned aerial vehicle, and obtaining a candidate microseismic signal set of the target collection sub-region.

[0097] It should be noted that the unmanned aerial vehicle at the second signal collection position can realize full coverage microseismic signal collection of the target collection sub-region, and can collect all microseismic signals emitted by each microseismic wave detector in the target collection sub-region to obtain an initial microseismic signal set, or the unmanned aerial vehicle can collect part of the microseismic signals in the target collection sub-region at the second signal collection position, and after the part of the microseismic signals are combined with the part of the microseismic signals collected at the first signal collection position, all microseismic signals emitted by each microseismic wave detector in the target collection sub-region can be obtained, and then an initial microseismic signal set of the target collection sub-region is obtained, which is not limited here.

[0098] Further, the initial microseismic signal set is subjected to signal gain, wherein each initial microseismic signal in the initial microseismic signal set can be subjected to signal gain based on a signal gain method in the related art, and each signal obtained after the gain is determined as each candidate microseismic signal, and then a candidate microseismic signal set composed of each candidate microseismic signal is obtained.

[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 the gain, S raw represents the initial microseismic signal, and G represents the signal gain coefficient, wherein G>1.

[0102] Further, the gain of each initial microseismic signal is realized based on the above formula, and thus a candidate microseismic signal set composed of each candidate microseismic signal after the gain is obtained.

[0103] In the embodiments of the present application, each unmanned aerial vehicle in the unmanned aerial vehicle cluster has a preset endurance time, and in this scenario, the endurance of each unmanned aerial vehicle needs to be detected.

[0104] Optionally, the endurance time of each unmanned aerial vehicle in the unmanned aerial vehicle cluster is obtained, and for any unmanned aerial vehicle, in response to the endurance time of the unmanned aerial vehicle being less than or equal to a preset endurance time threshold, a task takeover unmanned aerial vehicle of the unmanned aerial vehicle is obtained from the unmanned aerial vehicle cluster, and the task takeover unmanned aerial vehicle is controlled to perform the signal collection task of the unmanned aerial vehicle, and the unmanned aerial vehicle is recalled.

[0105] In the embodiments of the present application, the remaining power of each unmanned aerial vehicle can be detected, and the endurance time of each unmanned aerial vehicle can be estimated based on the remaining power of each unmanned aerial vehicle.

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

[0107] In this scenario, the unmanned aerial vehicle needs to be recalled, and at least one unmanned aerial vehicle that takes over the task to be executed by the recalled unmanned aerial vehicle needs to be selected from the remaining unmanned aerial vehicles in the unmanned aerial vehicle cluster as the task takeover unmanned aerial vehicle corresponding to the recalled unmanned aerial vehicle.

[0108] Further, the control task takeover unmanned aerial vehicle arrives at the signal collection position corresponding to the recalled unmanned aerial vehicle to execute the signal collection task it takes over, and obtains the corresponding candidate microseismic signal set.

[0109] As an example, the endurance time of the unmanned aerial vehicle can be obtained based on the following formula:

[0110]

[0111] In the above formula, E opt represents the endurance time, E flight,i represents the flight energy consumption of the i-th unmanned aerial vehicle, E comm,i represents the communication energy consumption of the i-th unmanned aerial vehicle.

[0112] In this example, the endurance time of the unmanned aerial vehicle obtained by the above formula can be compared with a preset endurance time threshold E minlow When E

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

[0114]

[0115] In the above formula, W i represents the task load of the i-th unmanned aerial vehicle, E bat,i represents the battery state of the i-th unmanned aerial vehicle, and n represents the number of unmanned aerial vehicle devices in the unmanned aerial vehicle cluster, and then the task takeover unmanned aerial vehicle of the recalled unmanned aerial vehicle is selected from the remaining unmanned aerial vehicles.

[0116] The unmanned aerial vehicle assisted microseismic signal collection method provided in the application realizes collection of microseismic signals in signal strength abnormal areas, obtains a target microseismic signal set through a cluster of unmanned aerial vehicles, improves the timeliness and accuracy of the collection of microseismic signals in signal strength abnormal areas, thereby improving the timeliness and accuracy of the collection of microseismic data carried in microseismic signals, reducing the cost of the collection of microseismic signals in signal strength abnormal areas without separately arranging base stations, improving the flexibility of microseismic signal collection in target areas, monitoring the endurance time of the unmanned aerial vehicle, reducing the probability of abnormal situations that the unmanned aerial vehicle cannot be normally recalled due to abnormal endurance time, improving the stability of the unmanned aerial vehicle in performing a signal collection task, and reducing task execution loss.

[0117] In the above embodiments, regarding the acquisition of the target microseismic signal set, the following can be combined Figure 3 It is understood that Figure 3 The flowchart of the unmanned aerial vehicle assisted microseismic signal collection method of another embodiment of the application is shown in Figure 3 The method comprises the following steps.

[0118] S301, acquiring the signal transmission distance between each unmanned aerial vehicle and the signal receiving device.

[0119] In the embodiments of the application, the candidate microseismic signal set acquired by each unmanned aerial vehicle can be continuously transmitted to a preset receiving device, and each candidate microseismic signal set in the target area is integrated based on the receiving device, so as to obtain the target microseismic signal set of 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 each unmanned aerial vehicle transmits the candidate microseismic signal set to the signal receiving device can be marked as the signal transmission distance between each unmanned aerial vehicle and the signal receiving device.

[0121] S302, for any unmanned aerial vehicle, in response to the signal transmission distance corresponding to the unmanned aerial vehicle being greater than or equal to a preset transmission distance threshold, acquiring a relay unmanned aerial vehicle corresponding to the unmanned aerial vehicle from the cluster of unmanned aerial vehicles, and transmitting the candidate microseismic signal set collected by the unmanned aerial vehicle to the signal receiving device through the relay unmanned aerial vehicle.

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

[0123] In this scenario, part of the unmanned aerial vehicles between the unmanned aerial vehicle and the signal receiving device can be acquired, and unmanned aerial vehicles that can be used as signal transmission relays are selected from the part of the unmanned aerial vehicles as relay unmanned aerial vehicles between the unmanned aerial vehicle and the signal receiving device.

[0124] Further, the unmanned aerial vehicle can transmit the acquired candidate microseismic signal set to the corresponding relay unmanned aerial vehicle, and transmit the candidate microseismic signal set acquired by the unmanned aerial vehicle to the signal receiving device through relay signal transmission between the relay unmanned aerial vehicles.

[0125] As an example, the transmission path of the candidate microseismic signal set of the unmanned aerial vehicle through the unmanned aerial vehicle 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 unmanned aerial vehicle cluster, S relay,k represents the signal strength of the candidate microseismic signal at the kth hop, E comm,k represents the communication energy consumption of the unmanned aerial vehicle at the kth hop.

[0128] In this example, the above formula can be used to achieve relay signal transmission between the unmanned aerial vehicle and the signal receiving device under the condition that the total energy consumption of the unmanned aerial vehicle cluster is minimized.

[0129] The microseismic signal acquisition method assisted by the unmanned aerial vehicle proposed in the present application realizes relay signal transmission between the unmanned aerial vehicle and the signal receiving device through the relay unmanned aerial vehicle, reduces the influence of signal transmission distance on the signal transmission quality of the candidate microseismic signal set, reduces the possibility of abnormal transmission and loss of the candidate microseismic signal set, and improves the transmission quality and efficiency of the microseismic signal, thereby improving the acquisition timeliness and accuracy of the microseismic signal in the signal strength abnormal area.

[0130] For better understanding of the above embodiments, the above embodiments can be combined with Figure 4 , Figure 4 The flowchart of the microseismic signal acquisition method assisted by the unmanned aerial vehicle according to another embodiment of the present application is shown in the figure.

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

[0132] like Figure 4 As shown, the target acquisition sub-region for each UAV can be determined based on the number of devices in the UAV cluster and the number of candidate signal acquisition areas. The target flight path for the UAV to reach the corresponding target acquisition sub-region can be determined 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-region is obtained, and microseismic signals are acquired and amplified based on the first signal acquisition position to obtain a candidate microseismic signal set for the target acquisition sub-region.

[0134] like Figure 4 As shown, during the process of collecting microseismic signals by drones, the signal transmission distance between each drone and the signal receiving device can be obtained, thereby identifying whether there are drones with longer signal transmission distances that need to be used for relay signal transmission.

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

[0136] like Figure 4 As shown, it is possible to identify whether the UAV at the first signal acquisition location can achieve full coverage microseismic signal acquisition of the target acquisition sub-area. When it is identified that the UAV at the first signal acquisition location can achieve full coverage microseismic signal acquisition of the target acquisition sub-area, the acquired candidate microseismic signal set can be transmitted to the signal receiving device.

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

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

[0139] The unmanned aerial vehicle assisted microseismic signal collection method proposed in the application screens the candidate signal collection areas with abnormal signal intensity in the target area to determine the target collection sub-areas of each unmanned aerial vehicle, and realizes the collection of microseismic signals in each target collection sub-area through the unmanned aerial vehicle, realizes the collection of microseismic signals in the signal intensity abnormal area, obtains the target microseismic signal set through the unmanned aerial vehicle cluster, improves the timeliness and accuracy of the collection of microseismic signals in the signal intensity abnormal area, thereby improving the timeliness and accuracy of the microseismic data carried in the microseismic signal, without the need for separate base station layout, reducing the collection cost of microseismic signals in the signal intensity abnormal area, improving the flexibility of microseismic signal collection in the target area, optimizing the microseismic signal collection method, and further improving the accuracy and timeliness of the microseismic condition detection in the mine operation area, and optimizing the operation safety of the target area.

[0140] In order to better understand the above-mentioned embodiments, the above-mentioned embodiments can be combined with Figure 5 , Figure 5 The flowchart of the unmanned aerial vehicle assisted microseismic signal collection method of another embodiment of the application is shown.

[0141] As shown in Figure 5 , the unmanned aerial vehicle cluster shown in Figure 5 can collect microseismic signals from each microseismic detector deployed in the target area in the microseismic detector array shown in Figure 5 , wherein the deployment position and signal intensity of the microseismic detector 1 can be obtained through the signal strength + position 1 module shown in Figure 5 , so as to identify whether the microseismic detector 1 is the first candidate microseismic detector with abnormal signal intensity.

[0142] Further, the first candidate microseismic detector in the microseismic detector array shown in Figure 5 is obtained to obtain the candidate signal collection area with abnormal signal intensity in the target area, and further, based on the candidate signal collection area, the target collection sub-area of each unmanned aerial vehicle in the unmanned aerial vehicle cluster shown in Figure 5 is determined to collect the candidate microseismic signal set of each target collection sub-area.

[0143] As shown in Figure 5 , the position information and remaining power information of the unmanned aerial vehicle 1 can be obtained through the power position signal 1 of the unmanned aerial vehicle 1 in the unmanned aerial vehicle cluster, wherein according to the position information of the unmanned aerial vehicle 1, whether the unmanned aerial vehicle 1 needs to perform relay signal transmission can be identified, and when it is identified that the unmanned aerial vehicle 1 needs to perform relay transmission, the relay unmanned aerial vehicle of the unmanned aerial vehicle 1 is obtained from the unmanned aerial vehicle cluster to transmit the candidate microseismic data set obtained by the unmanned aerial vehicle 1 to the signal receiving equipment through each relay unmanned aerial vehicle.

[0144] And, the endurance time of the unmanned aerial vehicle 1 can be obtained according to the remaining power of the unmanned aerial vehicle 1, so as to identify whether the unmanned aerial vehicle 1 needs to be recalled, and when it is identified that the unmanned aerial vehicle 1 needs to be recalled, a task takeover unmanned aerial vehicle of the unmanned aerial vehicle 1 is obtained from the unmanned aerial vehicle cluster, and the task takeover unmanned aerial vehicle is controlled to continue collecting the microseismic signals in the target acquisition sub-region corresponding to the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 is recalled.

[0145] It should be noted that, Figure 5 The specific content of the other modules shown can be understood in combination with the related information of the unmanned aerial vehicle 1 and the microseismic detector 1, which will not be described here.

[0146] The microseismic signal collection method under the assistance of the unmanned aerial vehicle proposed in the present application screens the candidate signal collection regions with abnormal signal strength in the target region to determine the target acquisition sub-regions of each unmanned aerial vehicle, and realizes the collection of microseismic signals in each target acquisition sub-region through the unmanned aerial vehicle, realizes the collection of microseismic signals in the region with abnormal signal strength, obtains the target microseismic signal set through the unmanned aerial vehicle cluster, improves the timeliness and accuracy of the collection of microseismic signals in the region with abnormal signal strength, thereby improving the timeliness and accuracy of the collection of microseismic data carried in the microseismic signals, without the need for separate base station layout, reducing the collection cost of microseismic signals in the region with abnormal signal strength, improving the flexibility of microseismic signal collection in the target region, optimizing the microseismic signal collection method, and further improving the accuracy and timeliness of the detection of the microseismic condition in the mine operation region, and optimizing the operation safety of the target region.

[0147] Corresponding to the microseismic signal collection method under the assistance of the unmanned aerial vehicle proposed in the above several embodiments, an embodiment of the present disclosure also proposes a microseismic signal collection device under the assistance of the unmanned aerial vehicle. Since the microseismic signal collection device under the assistance of the unmanned aerial vehicle proposed in the embodiment of the present disclosure corresponds to the microseismic signal collection method under the assistance of the unmanned aerial vehicle proposed in the above several embodiments, the implementation modes of the above-mentioned microseismic signal collection method under the assistance of the unmanned aerial vehicle are also applicable to the microseismic signal collection device under the assistance of the unmanned aerial vehicle proposed in the embodiment of the present disclosure, which will not be described in detail in the following embodiments.

[0148] Figure 6 The structure diagram of the microseismic signal collection device under the assistance of the unmanned aerial vehicle of an embodiment of the present disclosure is shown in Figure 6 The microseismic signal collection device 600 under the assistance of the unmanned aerial vehicle, comprising an acquisition module 61, a determination module 62 and a collection module 63, wherein:

[0149] The acquisition module 61 is configured to acquire a target region to which an initial microseismic wave detector set belongs, and acquire a candidate signal collection region with abnormal signal strength from the target region;

[0150] The determining module 62 is configured to determine a target acquisition sub-region of each unmanned aerial vehicle in the unmanned aerial vehicle cluster according to the candidate signal acquisition region.

[0151] The acquisition module 63 is configured to perform microseismic signal acquisition on each target acquisition sub-region by the unmanned aerial vehicle cluster to obtain a target microseismic signal set of the target region.

[0152] In the embodiments of the present application, the acquisition module 63 is further configured to, for any unmanned aerial vehicle, perform path planning on the unmanned aerial vehicle and the target acquisition sub-region corresponding to the unmanned aerial vehicle to obtain a candidate flight path set corresponding to the unmanned aerial vehicle, determine a target flight path of the unmanned aerial vehicle to the target acquisition sub-region based on the candidate flight path set, control the unmanned aerial vehicle to reach the target acquisition sub-region based on the target flight path, determine a first signal acquisition position of the unmanned aerial vehicle in the target acquisition sub-region, perform microseismic signal acquisition on the target acquisition sub-region based on the unmanned aerial vehicle at the first signal acquisition position to obtain an initial microseismic signal set of the target acquisition sub-region, perform signal strength gain on the initial microseismic signal set to obtain a candidate microseismic signal set of the target acquisition sub-region, and obtain the target microseismic signal set of the target region based on the candidate microseismic signal set of each target acquisition sub-region.

[0153] In the embodiments of the present application, the acquisition module 63 is further configured to, for any unmanned aerial vehicle, identify whether the unmanned aerial vehicle at the first signal acquisition position can achieve full-coverage microseismic signal acquisition on the target acquisition sub-region corresponding to the unmanned aerial vehicle, and in response to identifying that the unmanned aerial vehicle at the first signal acquisition position cannot achieve full-coverage microseismic signal acquisition on the target acquisition sub-region, adjust the first signal acquisition position to a second signal acquisition position, wherein the second signal acquisition position is used to achieve full-coverage microseismic signal acquisition of the unmanned aerial vehicle on the target acquisition sub-region, and control the unmanned aerial vehicle to move to the second signal acquisition position to perform full-coverage microseismic signal acquisition on the target acquisition sub-region to obtain a candidate microseismic signal set of the target acquisition sub-region.

[0154] In the embodiments of the present application, the acquisition module 63 is further configured to, for any unmanned aerial vehicle, obtain a signal emission range of the target acquisition sub-region corresponding to the unmanned aerial vehicle and a first coverage acquisition range of the unmanned aerial vehicle at the first signal acquisition position in the target acquisition sub-region, obtain a signal acquisition coverage rate of the unmanned aerial vehicle at the first signal acquisition position based on the first coverage acquisition range and the signal emission range, and in response to the signal acquisition coverage rate being less than or equal to a preset coverage rate threshold, identify that the unmanned aerial vehicle at the first signal acquisition position cannot achieve full-coverage microseismic signal acquisition on the target acquisition sub-region.

[0155] In the embodiments of the present application, the acquisition module 61 is further configured to:

[0156] acquire a preset signal strength detection position, perform signal strength detection on each initial microseismic wave detector based on the signal strength detection position, 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 perform signal strength labeling on 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; and perform signal strength area division on the signal strength distribution map to divide a candidate signal collection area with abnormal signal strength from the signal strength distribution map.

[0157] In the embodiments of the present application, the acquisition module 61 is further configured to: acquire the number of devices in the unmanned aerial vehicle cluster and the number of regions of the candidate signal collection area; and perform collection area planning on the unmanned aerial vehicle cluster based on the number of devices and the number of regions to obtain a target collection sub-region of each unmanned aerial vehicle.

[0158] In the embodiments of the present application, the device further includes a relay module configured to: acquire a signal transmission distance between each unmanned aerial vehicle and the signal receiving device; and for any unmanned aerial vehicle, in response to the signal transmission distance corresponding to the unmanned aerial vehicle being greater than or equal to a preset transmission distance threshold, acquire a relay unmanned aerial vehicle corresponding to the unmanned aerial vehicle from the unmanned aerial vehicle cluster, and transmit the candidate microseismic signal set collected by the unmanned aerial vehicle to the signal receiving device through the relay unmanned aerial vehicle.

[0159] In the embodiments of the present application, the device further includes a recall module configured to: acquire the endurance time of each unmanned aerial vehicle in the unmanned aerial vehicle cluster; and for any unmanned aerial vehicle, in response to the endurance time of the unmanned aerial vehicle being less than or equal to a preset endurance time threshold, acquire a task takeover unmanned aerial vehicle of the unmanned aerial vehicle from the unmanned aerial vehicle cluster, and control the task takeover unmanned aerial vehicle to perform the signal collection task of the unmanned aerial vehicle and recall the unmanned aerial vehicle.

[0160] The unmanned aerial vehicle assisted microseismic signal acquisition device provided in the application obtains a target region to which an initial microseismic wave detector set belongs, and obtains a candidate signal acquisition region with abnormal signal strength from the target region, and then determines a target acquisition sub-region of each unmanned aerial vehicle in the candidate signal acquisition region, and each unmanned aerial vehicle acquires microseismic signals in each target acquisition sub-region to obtain a target microseismic signal set of the target region. In the application, the candidate signal acquisition region with abnormal signal strength in the target region is screened to determine the target acquisition sub-region of each unmanned aerial vehicle, and the unmanned aerial vehicle acquires microseismic signals in each target acquisition sub-region, realizes the acquisition of microseismic signals in the region with abnormal signal strength, obtains the target microseismic signal set through the unmanned aerial vehicle cluster, improves the timeliness and accuracy of the acquisition of microseismic signals in the region with abnormal signal strength, thereby improving the timeliness and accuracy of the acquisition of microseismic data carried in the microseismic signal, without the need for separate base station layout, reducing the acquisition cost of microseismic signals in the region with abnormal signal strength, improving the flexibility of microseismic signal acquisition in the target region, optimizing the microseismic signal acquisition method, and further improving the accuracy and timeliness of the detection of the microseismic condition of the mine operation region, and optimizing the operation safety of the target region.

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

[0162] Figure 7 The block diagram of the electronic device of an embodiment of the application is shown in 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, and the processor 71 executes the program instructions to realize the execution Figures 1 to 5 The unmanned aerial vehicle assisted microseismic signal acquisition method is provided in the embodiment.

[0163] To achieve the above-mentioned embodiments, the application further provides a non-transitory computer readable storage medium storing computer instructions, the computer instructions being used to make a computer execute Figures 1 to 5 The unmanned aerial vehicle assisted microseismic signal acquisition method is provided in the embodiment.

[0164] To achieve the above-mentioned embodiments, the application further provides a computer program product, when the instructions in the computer program product are executed by an instruction processor, the execution Figures 1 to 5 The unmanned aerial vehicle assisted microseismic signal acquisition method is provided in the embodiment.

[0165] In the description of the application, reference to "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment or example. Furthermore, the described specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Moreover, the usage of the terms "first", "second" or "third" does not limit the quantity or order of the specific features, structures, materials or characteristics, but rather the term "first", "second" or "third" can be used to distinguish the specific features, structures, materials or characteristics from one another. In addition, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples, without changing the scope of the application.

[0166] Furthermore, the terms "first", "second", or the like merely denote different instances of a similar feature, structure, material, or characteristic, without necessarily implying any actual relationship or order between the different instances. The specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples, without changing the scope of the application.

[0167] Any process or method descriptions or blocks in flow charts or otherwise described herein represent embodiments of modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions or steps, and alternate implementations are possible. In some embodiments, the processes or methods described in flow charts or otherwise described herein can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the processes or methods described in flow charts or otherwise described herein can be stored as one or more sequences of instructions or code on a non-transitory computer-readable medium or memory such as any memory or data storage, including a removable computer- readable medium or a non-removable computer-readable medium implemented using any available technology. The processes or methods described in flow charts or otherwise described herein can also be incorporated into a computer program, software, or an application including one or more computer programs, which can be implemented and run on a computer or processing device, such as the processing device 1000.

[0168] The logic and / or steps represented in the flowcharts and / or described herein, for example, can be considered as a sequence of instructions to implement logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device, such as a computer-based system, processor- based system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a computer- readable storage medium or a computer-readable signal medium. The computer- readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection having one or more wires (electrical connections), a portable computer diskette (a magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and stored in a computer memory.

[0169] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. As such, in some embodiments, specifically configured hardware can be used to implement at least some of the functionality described herein. For example, if implemented in hardware, the hardware can include any or a combination of the following: a discrete logic circuit having logic gates for implementing logic functions upon data signals, an application specific integrated circuit having appropriate combinational logic gates, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0170] Those of skill in the art would understand that information and signals can be represented using any of a variety of technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that can be referenced throughout the above description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0171] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing module, or each of the units can be physically present separately, or two or more units can be integrated in one module. The integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0172] The storage medium mentioned above can 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 should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A method for microseismic signal acquisition assisted by a UAV, characterized in that, The method comprises: acquiring a target area to which an initial microseismic wave detector set belongs, and acquiring a candidate signal acquisition area with abnormal signal strength from the target area; determining target acquisition sub-areas of each unmanned aerial vehicle in a cluster of unmanned aerial vehicles according to the candidate signal acquisition area; acquiring a target microseismic signal set of the target area by performing microseismic signal acquisition on each target acquisition sub-area by the cluster of unmanned aerial vehicles; The method further comprises: for any unmanned aerial vehicle, identifying whether the unmanned aerial vehicle at the first signal acquisition position can achieve full-coverage microseismic signal acquisition on the target acquisition sub-area corresponding to the unmanned aerial vehicle; In the above formula, denotes a target flight path of the UAV, denotes flight energy consumption, denotes flight time, denotes a weight parameter of energy consumption and time; in response to identifying that the unmanned aerial vehicle at the first signal acquisition position cannot achieve full-coverage microseismic signal acquisition on the target acquisition sub-area, adjusting the first signal acquisition position to a second signal acquisition position, wherein the second signal acquisition position is used to achieve full-coverage microseismic signal acquisition of the target acquisition sub-area by the unmanned aerial vehicle; controlling the unmanned aerial vehicle to move to the second signal acquisition position to perform full-coverage microseismic signal acquisition on the target acquisition sub-area, and obtaining a candidate microseismic signal set of the target acquisition sub-area. The method further comprises:

2. The method of claim 1, wherein, for any unmanned aerial vehicle, acquiring a signal emission range of the target acquisition sub-area corresponding to the unmanned aerial vehicle, and a first coverage acquisition range of the unmanned aerial vehicle at the first signal acquisition position in the target acquisition sub-area; ​ ​ ​ 3. The method of claim 2, wherein, ​ ​ acquire, based on the first signal acquisition range and the signal transmission range, a signal acquisition coverage rate of the unmanned aerial vehicle 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 that the unmanned aerial vehicle at the first signal acquisition position is unable to achieve full-coverage microseismic signal acquisition of the target acquisition sub-region.

4. The method of claim 1, wherein, the target region to which the initial microseismic wave detector set belongs is acquired, and a candidate signal acquisition region with abnormal signal strength is acquired from the target region, including: a preset signal strength detection position is acquired, and signal strength detection is performed on each initial microseismic wave detector based on the signal strength detection position, so as to 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; a microseismic wave detector distribution map of the target region is acquired, and the microseismic wave detector distribution map is labeled 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; signal strength region division is performed on the signal strength distribution map, so as to divide a candidate signal acquisition region with abnormal signal strength from the signal strength distribution map.

5. The method of claim 4, wherein, the target acquisition sub-region of each unmanned aerial vehicle is determined based on the candidate signal acquisition region, including: the number of devices of the unmanned aerial vehicle cluster and the number of region of the candidate signal acquisition region are acquired; the unmanned aerial vehicle cluster is planned based on the number of devices and the number of region, to obtain the target acquisition sub-region of each unmanned aerial vehicle.

6. The method according to any one of claims 1-5, characterized in that, the method further includes: the signal transmission distance between each unmanned aerial vehicle and the signal receiving device is acquired; for any unmanned aerial vehicle, in response to the signal transmission distance corresponding to the unmanned aerial vehicle being greater than or equal to a preset transmission distance threshold, a relay unmanned aerial vehicle corresponding to the unmanned aerial vehicle is acquired from the unmanned aerial vehicle cluster, and the candidate microseismic signal set collected by the unmanned aerial vehicle is transmitted to the signal receiving device through the relay unmanned aerial vehicle.

7. The method according to any one of claims 1-5, characterized in that, the method further includes: the endurance time of each unmanned aerial vehicle in the unmanned aerial vehicle cluster is acquired; for any unmanned aerial vehicle, in response to the endurance time of the unmanned aerial vehicle being less than or equal to a preset endurance time threshold, a task takeover unmanned aerial vehicle of the unmanned aerial vehicle is acquired from the unmanned aerial vehicle cluster, and the task takeover unmanned aerial vehicle is controlled to perform the signal acquisition task of the unmanned aerial vehicle, and the unmanned aerial vehicle is recalled.

8. A microseismic signal acquisition device assisted by a UAV, characterized in that, the device includes: an acquisition module, configured to acquire a target region to which an initial microseismic wave detector set belongs, and acquire a candidate signal acquisition region with abnormal signal strength from the target region; a determination module, configured to determine a target acquisition sub-region of each unmanned aerial vehicle in an unmanned aerial vehicle cluster according to the candidate signal acquisition region; an acquisition module, configured to perform microseismic signal acquisition on each target acquisition sub-region by the unmanned aerial vehicle cluster, to obtain a target microseismic signal set of the target region; the microseismic signal acquisition on each target acquisition sub-region by the unmanned aerial vehicle cluster, to obtain a target microseismic signal set of the target region, includes: For any unmanned aerial vehicle, path planning is performed for the unmanned aerial vehicle and a target acquisition sub-region corresponding to the unmanned aerial vehicle, to obtain a candidate flight path set corresponding to the unmanned aerial vehicle, to determine a target flight path of the unmanned aerial vehicle to the target acquisition sub-region 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, and wherein the target flight path corresponding to the unmanned aerial vehicle is obtained based on the following formula: In the above formula, represents a target flight path of the UAV, represents flight energy consumption, represents flight time, represents a weight parameter of energy consumption and time; The unmanned aerial vehicle is controlled to reach the target acquisition sub-region based on the target flight path, to determine a first signal acquisition position of the unmanned aerial vehicle in the target acquisition sub-region, wherein the first signal acquisition position is determined based on three-dimensional coordinate information of the unmanned aerial vehicle in the target acquisition sub-region; Microseismic signal acquisition is performed on the target acquisition sub-region based on the unmanned aerial vehicle at the first signal acquisition position, to obtain an initial microseismic signal set of the target acquisition sub-region, and signal strength gain is performed on the initial microseismic signal set, to obtain a candidate microseismic signal set of the target acquisition sub-region; The target microseismic signal set of the target region is obtained based on the candidate microseismic signal set of each target acquisition sub-region.

9. An electronic device, comprising: Comprise: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to execute the instructions to implement the method of any one of claims 1-7.

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