Method, device and system for determining inspection sequence of unmanned aerial vehicles, and storage medium

Abstract

The embodiment of the invention provides a method, device and system for determining the inspection sequence of unmanned aerial vehicles and a storage medium. The method comprises the following steps: before an unmanned aerial vehicle sequentially executes inspection tasks according to task levels, acquiring position information of the inspection tasks of the same task level; generating a plurality of initial inspection areas; determining one or more target inspection areas corresponding to each initial inspection area; determining at least one task execution sequence when the unmanned aerial vehicle executes all the inspection tasks of each target inspection area; determining total journey time consumption and total flight sortie required when the unmanned aerial vehicle inspects all inspection tasks of each target inspection area according to each task execution sequence; determining an optimal sequence when the unmanned aerial vehicle executes all the inspection tasks of each target inspection area according to the total journey time consumption and the total flight number; and determining the inspection sequence when the unmanned aerial vehicle executes the inspection tasks of the same task level according to all the optimal sequences, thereby improving the inspection efficiency of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the field of drone inspection technology, and specifically to a method, device, mine inspection system and storage medium for determining a drone inspection sequence. Background Art

[0002] Drones can inspect large areas with complex environments such as mines. For example, drones can perform more daily inspection tasks in mines, such as daily slope inspections. Drones can take regular photos of the slopes for evidence collection, and then use technical means to identify whether the slope cracks in the pictures have increased, so as to determine whether the slopes are within the safe range. Another example is the inspection before blasting. Before the blasting of the mine pile, drones can be used to patrol back and forth around the mine pile, and AI recognition technology can be used to identify whether there are people and vehicles in the pictures or videos to ensure safety during mine blasting.

[0003] Currently, the inspection order of drone inspection tasks can be managed according to the start time of the drone inspection task. However, the distance between the location of the drone inspection task and the airport (where the drone is charged), as well as the distance between the current inspection task of the drone and the next inspection task, may be quite different. The flight time of the drone on its way to the task execution location accounts for a certain proportion. If the drone has a large number of daily inspection tasks and the inspection task locations are relatively scattered, if the execution of the tasks is still managed according to the start time of the drone inspection task, it may increase the distance of the drone to the task location and increase the number of times the drone goes to and from the airport.

[0004] Therefore, the solutions for drone inspection in the existing technology require a large number of flights and a lot of time to complete the drone's long-day inspection task requirements. The drone inspection sequence is not set reasonably, which reduces the efficiency of drone inspection. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a method, device, mine inspection system and storage medium for determining the inspection sequence of drones, so as to solve the problem that the inspection sequence of drones in the prior art is not reasonable.

[0006] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for determining a drone inspection sequence, comprising:

[0007] Before the UAV performs inspection tasks in sequence according to the task level, the location information of the inspection tasks of the same task level is obtained;

[0008] Generate multiple initial inspection areas based on the location information of inspection tasks of the same task level, the maximum working radius of the drone, and the preset rotation angle;

[0009] Determine one or more target inspection areas corresponding to each initial inspection area according to the number of inspection tasks in each initial inspection area;

[0010] Determine at least one task execution order when the UAV performs all inspection tasks in each target inspection area;

[0011] Determine the total distance and flight times required for the drone to inspect all inspection tasks in each target inspection area in the order of each task execution;

[0012] Determine the optimal order for UAVs to perform all inspection tasks in each target inspection area based on the total journey time and total flight sorties;

[0013] The inspection order of the drones when performing inspection tasks of the same mission level is determined based on the optimal order of all.

[0014] In an embodiment of the present application, determining one or more target inspection areas corresponding to each initial inspection area according to the task number of inspection tasks in each initial inspection area includes: when the task number of inspection tasks in each initial inspection area is greater than a first preset number, dividing each initial inspection area into a first area and a second area of ​​equal area; determining the task number of inspection tasks in the first area and the second area until each initial inspection area is divided into pending inspection areas with a task number less than or equal to the first preset number; judging whether the task number of inspection tasks in each pending inspection area is less than or equal to a second preset number, and the second preset number is less than the first preset number; when the task number of inspection tasks in each pending inspection area is less than or equal to the second preset number, determining the total number of inspection tasks in each pending inspection area and the pending inspection areas adjacent to each pending inspection area; when the total number is less than or equal to a third preset number, merging each pending inspection area with the adjacent pending inspection areas until the total number is greater than the third preset number, to obtain one or more target inspection areas corresponding to each initial inspection area, wherein the third preset number is greater than the second preset number and less than the first preset number.

[0015] In an embodiment of the present application, determining the total distance time and total flight sorties required for the drone to inspect all inspection tasks of each target inspection area in accordance with each task execution sequence includes: for each task execution sequence, when the drone is in the execution position of any inspection task in the task execution sequence, obtaining the remaining working time of the drone; determining the distance time required to fly from the execution position of any inspection task to the execution position of the next inspection task; when the remaining working time is less than the distance time, determining that the drone needs to fly to the installation position of the drone, and the number of flight sorties when the drone inspects in accordance with the task execution sequence is increased by one, and the distance time when the drone inspects in accordance with the task execution sequence is accumulated; when the remaining working time is greater than or equal to the distance time, determining that the drone needs to fly to the execution position of the next inspection task, and the number of flight sorties when the drone inspects in accordance with the task execution sequence is increased by one, and the distance time when the drone inspects in accordance with the task execution sequence is accumulated.

[0016] In an embodiment of the present application, determining the optimal order for the drone to perform all inspection tasks in each target inspection area based on the total journey time and the total number of flights includes: when there are multiple minimum total journey times and there are not multiple minimum total flight sorties, determining the task execution order corresponding to the minimum total flight sorties as the optimal order for the corresponding target inspection area; when there are multiple minimum total journey times and there are multiple minimum total flight sorties, selecting one task execution order from the multiple task execution orders corresponding to the minimum total journey time and the minimum total flight sorties as the optimal order for the corresponding target inspection area.

[0017] In an embodiment of the present application, the method also includes: in the process of executing inspection tasks of different task levels in sequence according to the inspection order, determining whether there is an emergency inspection task whose task start time is the current time; if there is an emergency inspection task, controlling the drone to suspend the execution of the current inspection task, and controlling the drone to execute the emergency inspection task.

[0018] In an embodiment of the present application, the method also includes: before the drone performs the inspection task in sequence according to the task level, determining whether there is a time-sensitive task with a fixed task start time; after there is a time-sensitive task and the drone performs inspection in accordance with the inspection order, controlling the drone to suspend the execution of the current inspection task at the fixed task start time, and executing the time-sensitive task according to the fixed task start time.

[0019] In an embodiment of the present application, determining the inspection order when a drone performs an inspection task of the same mission level based on the optimal order of all includes: selecting any target inspection area that is closest to the drone's airport from all target inspection areas; determining the arrangement order of all target inspection areas in sequence according to a preset direction with the drone's airport as the center of the circle; and determining the inspection order based on the optimal order of each target inspection area in the arrangement order.

[0020] A second aspect of the present application provides a device for determining a drone inspection sequence, comprising:

[0021] a memory configured to store instructions;

[0022] The processor is configured to call instructions from the memory and implement the above-mentioned method for determining the inspection order of the drone when executing the instructions.

[0023] The third aspect of the present application provides a mine inspection system, comprising:

[0024] Drones are used to perform inspection tasks within the mining area, including mine slope inspection tasks, production inspection tasks, pre-blasting inspection tasks, and dam body inspection tasks;

[0025] A charging device for supplying power to the drone;

[0026] The above-mentioned device for determining the inspection order of drones.

[0027] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configures the processor to execute the above-mentioned method for determining the inspection order of drones.

[0028] Through the above technical scheme, before the UAV performs the inspection tasks in sequence according to the task level, the location information of the inspection tasks of the same task level is obtained; multiple initial inspection areas are generated according to the location information of the inspection tasks of the same task level, the maximum working radius of the UAV and the preset rotation angle; one or more target inspection areas corresponding to each initial inspection area are determined according to the number of inspection tasks in each initial inspection area; at least one task execution order is determined when the UAV performs all inspection tasks in each target inspection area; the total distance time and total flight sorties required for the UAV to inspect all inspection tasks in each target inspection area according to each task execution order are determined; the optimal order of the UAV when performing all inspection tasks in each target inspection area is determined according to the total distance time and the total flight sorties; the inspection order of the UAV when performing the inspection tasks of the same task level is determined according to all the optimal orders, so as to reduce the flight sorties and return times of the UAV and reduce the proportion of non-task time of the UAV, so that the inspection order of the UAV is more reasonable and the inspection efficiency of the UAV is improved.

[0029] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0031] Figure 1 A schematic diagram of a process for determining a drone inspection sequence according to an embodiment of the present application is shown;

[0032] Figure 2 A schematic diagram schematically shows the distribution of airport locations and mission locations according to an embodiment of the present application;

[0033] Figure 3 A schematic diagram of a target inspection area according to an embodiment of the present application is schematically shown;

[0034] Figure 4 The internal structure of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0036] It should be noted that if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0037] Figure 1 The flowchart of the method for determining the inspection sequence of a drone according to an embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a method for determining a drone inspection sequence is provided, comprising the following steps:

[0038] Step 101: Before the UAV performs inspection tasks in sequence according to the task levels, the location information of the inspection tasks of the same task level is obtained.

[0039] One airport is equipped with a drone to perform inspection tasks. The maximum working time of the drone is the maximum working time of a flight in the air. After reaching the maximum working time, the safety power alarm can be triggered and the drone will return to the airport for charging. If the drone returns to the airport for charging before the mission is completed, the drone can continue to perform the unfinished mission after charging is completed, otherwise the drone will perform the next inspection mission. The drone in this embodiment flies in a straight line at a constant speed, and the drone flies at a safe altitude.

[0040] There may be multiple inspection tasks that can be performed by drones. Each inspection task may correspond to an inspection task model. Each inspection task model defines the task end location, task level and task duration of the corresponding inspection task. Among them, the task end location may include the task longitude and latitude of the corresponding inspection task. The task level can be customized according to actual conditions. Task duration refers to the estimated time required for the drone to perform the corresponding inspection task. As shown in Table 1 below, an inspection task model for an inspection task is illustrated.

[0041] Table 1

[0042] property name illustrate Ln Mission longitude Mission end location-longitude Lat Mission Latitude Mission end location - latitude Level Task Level cost Task time Estimated time to complete a single inspection task, in seconds

[0043] When a drone needs to inspect multiple inspection tasks, it can perform all inspection tasks corresponding to the task levels in sequence according to different inspection task levels. For example, if the task levels of the inspection tasks include level 1 to level 9, the lower the value, the higher the task level of the corresponding inspection task, and all inspection tasks of different task levels can be performed in sequence according to level 1 to level 9.

[0044] Before the drone performs the inspection tasks in sequence according to the task level, the processor may obtain the location information of the inspection tasks of the same task level. Specifically, the processor may traverse multiple inspection task models to obtain inspection task models with the same task level, and then obtain the location information of the inspection tasks of the same task level. The location information may include the longitude and latitude of the inspection tasks of the same task level.

[0045] Step 102: Generate multiple initial inspection areas according to the location information of the inspection tasks of the same task level, the maximum working radius of the drone, and the preset rotation angle.

[0046] The processor can generate multiple initial inspection areas according to the location information of the inspection tasks of the same task level, the maximum working radius of the drone and the preset rotation angle. Among them, the maximum working radius of the drone refers to the farthest distance that the drone can fly from the airport where it is located. The preset rotation angle can be customized according to the actual situation. For example, the airport where the drone is located can be taken as the center of the circle, the north is the y-axis, and the east is the x-axis. A map coordinate system can be established. Within the circle of the maximum working radius of the drone, the entire circular surface can be divided into multiple sector areas according to the preset rotation angle. Afterwards, the maximum working radius can be divided into preset equal parts and a circle can be drawn. At this time, each sector area is divided into a sub-sector area and at least one curved surface area, that is, multiple initial inspection areas are obtained.

[0047] Step 103: Determine one or more target inspection areas corresponding to each initial inspection area according to the task quantity of the inspection tasks in each initial inspection area.

[0048] For each initial inspection area, if the number of inspection tasks in the initial inspection area is large, the number of task execution orders in the corresponding area determined subsequently is very large, resulting in a large amount of calculation for determining the inspection order of the drone, which takes a long time. To this end, the processor can determine one or more target inspection areas corresponding to each initial inspection area according to the number of inspection tasks in each initial inspection area. That is, each initial inspection area can be divided again according to the number of inspection tasks in each initial inspection area to obtain one or more corresponding target inspection areas.

[0049] In an embodiment of the present application, determining one or more target inspection areas corresponding to each initial inspection area according to the task number of inspection tasks in each initial inspection area includes: when the task number of inspection tasks in each initial inspection area is greater than a first preset number, dividing each initial inspection area into a first area and a second area of ​​equal area; determining the task number of inspection tasks in the first area and the second area until each initial inspection area is divided into pending inspection areas with a task number less than or equal to the first preset number; judging whether the task number of inspection tasks in each pending inspection area is less than or equal to a second preset number, and the second preset number is less than the first preset number; when the task number of inspection tasks in each pending inspection area is less than or equal to the second preset number, determining the total number of inspection tasks in each pending inspection area and the pending inspection areas adjacent to each pending inspection area; when the total number is less than or equal to a third preset number, merging each pending inspection area with the adjacent pending inspection areas until the total number is greater than the third preset number, to obtain one or more target inspection areas corresponding to each initial inspection area, wherein the third preset number is greater than the second preset number and less than the first preset number.

[0050] When the number of inspection tasks in each initial inspection area is greater than the first preset number, the processor may divide each initial inspection area into a first area and a second area of ​​equal area. The first preset number may be set according to actual conditions. For example, if the number of tasks in an area exceeds 7, the number of execution orders of all inspection tasks in the area will be too large. Therefore, in order to reduce the amount of subsequent calculations, the number of tasks in an area may be controlled within 7. In this case, the first preset number may be set to 7.

[0051] The processor may determine the number of inspection tasks in the first area and the second area. If the number of inspection tasks in the first area or the second area is greater than the first preset number, the area may be divided according to the radius portion corresponding to the first area or the second area. If the first area or the second area is a sub-sector area, another sub-sector area and at least one curved area may be obtained by division. If the first area or the second area is a curved area, at least two curved areas may be obtained by division, until each initial inspection area is divided into pending inspection areas with a number of tasks less than or equal to the first preset number.

[0052] The distribution of inspection tasks in each pending inspection area is uneven. For example, some pending inspection areas may have no inspection tasks or very few inspection tasks. At this time, the processor may determine whether the number of inspection tasks in each pending inspection area is less than or equal to the second preset number. The second preset number is less than the first preset number, and the second preset number can be set according to actual conditions. The second preset number can be set to 0. If the second preset number is set to 0, and the number of inspection tasks in the pending inspection area is less than or equal to 0, at this time, there may be no inspection tasks in the pending inspection area.

[0053] When the number of inspection tasks in each pending inspection area is less than or equal to the second preset number, the processor may determine the total number of inspection tasks in each pending inspection area and the pending inspection areas adjacent to each pending inspection area. When the total number is less than or equal to the third preset number, the processor may merge each pending inspection area with the adjacent pending inspection area to reduce the number of target inspection areas finally obtained. The third preset number is greater than the second preset number and less than the first preset number.

[0054] If the number of inspection tasks in each pending inspection area after merging it with the adjacent pending inspection area is less than or equal to a third preset number, the pending inspection areas indirectly adjacent to each pending inspection area may continue to be merged until the total number of inspection tasks in the merged area is greater than the third preset number, thereby obtaining one or more target inspection areas corresponding to each initial inspection area.

[0055] Step 104: Determine at least one task execution order when the drone performs all inspection tasks in each target inspection area.

[0056] The processor may determine at least one task execution order when the drone performs all inspection tasks in each target inspection area. Specifically, at least one task execution order when the drone performs all inspection tasks in each target inspection area may be determined according to a permutation algorithm or an enumeration algorithm. For example, if the number of inspection tasks in a target inspection area is n, then there are n! task execution orders for the inspection tasks in the target inspection area.

[0057] Step 105: Determine the total distance time and total flight number required for the drone to inspect all inspection tasks of each target inspection area according to each task execution sequence.

[0058] The processor can determine the total distance time and total flight sorties required when the drone inspects all inspection tasks of each target inspection area according to each task execution order. In an embodiment of the present application, determining the total distance time and total flight sorties required when the drone inspects all inspection tasks of each target inspection area according to each task execution order includes: for each task execution order, when the drone is in the execution position of any inspection task under the task execution order, obtaining the remaining working time of the drone; determining the distance time required to fly from the execution position of any inspection task to the execution position of the next inspection task; when the remaining working time is less than the distance time, determining that the drone needs to fly to the installation position of the drone, and the number of flights when the drone inspects according to the task execution order increases by one, and the distance time when the drone inspects according to the task execution order is accumulated; when the remaining working time is greater than or equal to the distance time, determining that the drone needs to fly to the execution position of the next inspection task, and the number of flights when the drone inspects according to the task execution order increases by one, and the distance time when the drone inspects according to the task execution order is accumulated.

[0059] For each task execution sequence, when the drone is at the execution position of any inspection task in the task execution sequence, the remaining working time of the drone is obtained. The remaining working time of the drone can be determined according to the remaining battery power of the drone. The processor can determine the distance time required to fly from the execution position of any inspection task to the execution position of the next inspection task. Specifically, the required distance time can be determined according to the flight speed of the drone and the distance between the execution position of any inspection task and the execution position of the next inspection task.

[0060] like Figure 2 As shown, a schematic diagram of the distribution of airport locations and task locations is provided. The figure shows airport a0, as well as tasks 1, 2, and 3. The time required to execute task 1 is t1, the time required to execute task 2 is t2, and the time required to execute task 3 is t3. The distance between task 1 and task 2 is l 12 , the distance between task 1 and airport a0 is l 01 , the distance between task 1 and task 3 is l 13 , the distance between task 2 and task 3 is l 23 , the distance between task 2 and airport a0 is l 20 , the distance between task 3 and airport a0 is l 30. Among them, the distance between any two locations can be determined by the longitude and latitude of any two locations. When the remaining working time is less than the distance consumption, the processor can determine that the drone needs to fly to the installation location of the drone, that is, the airport of the drone. At this time, the number of flights of the drone when inspecting in the order of task execution increases by one, and the distance consumption of the drone when inspecting in the order of task execution is accumulated. When the remaining working time is greater than or equal to the distance consumption, the processor can determine that the drone needs to fly to the execution location of the next inspection task, and the number of flights of the drone when inspecting in the order of task execution increases by one, and the distance consumption of the drone when inspecting in the order of task execution is accumulated.

[0061] When the UAV does not need to fly to the execution location of the next inspection task, that is, when the UAV reaches the execution location of the last inspection task in the task execution sequence, the total distance time required for the UAV to inspect all inspection tasks in each target inspection area according to each task execution sequence can be obtained based on the time required to fly from the execution location of the last inspection task to the airport and the current accumulated time. The total number of flights required for the UAV to inspect all inspection tasks in each target inspection area according to each task execution sequence can be obtained by adding one to the currently accumulated number of flights.

[0062] Step 106: Determine the optimal order for the drones to perform all inspection tasks in each target inspection area based on the total distance time and the total number of flights.

[0063] The processor can determine the optimal order for the drone to perform all inspection tasks for each target inspection area based on the total journey time and the total flight sorties. In an embodiment of the present application, determining the optimal order for the drone to perform all inspection tasks for each target inspection area based on the total journey time and the total flight sorties includes: when there are multiple minimum total journey times and there are not multiple minimum total flight sorties, determining the task execution order corresponding to the minimum total flight sorties as the optimal order for the corresponding target inspection area; when there are multiple minimum total journey times and there are multiple minimum total flight sorties, selecting one task execution order from the multiple task execution orders corresponding to the minimum total journey time and the minimum total flight sorties as the optimal order for the corresponding target inspection area.

[0064] In the case where there are multiple minimum total journey times and there are not multiple minimum total flight sorties, the processor may determine the task execution order corresponding to the minimum total flight sorties as the optimal order for the corresponding target inspection area. In the case where there are multiple minimum total journey times and there are multiple minimum total flight sorties, the processor may select one task execution order from the multiple task execution orders corresponding to the minimum total journey time and the minimum total flight sorties as the optimal order for the corresponding target inspection area.

[0065] Step 107: Determine the inspection order of the drones when performing inspection tasks of the same task level according to all the optimal orders.

[0066] The processor can determine the inspection order when the drone performs inspection tasks of the same mission level according to all the optimal sequences. In the embodiment of the present application, determining the inspection order when the drone performs inspection tasks of the same mission level according to all the optimal sequences includes: selecting any target inspection area closest to the airport of the drone from all the target inspection areas; determining the arrangement order of all the target inspection areas in sequence according to a preset direction with the airport of the drone as the center of the circle; and determining the inspection order according to the optimal sequence of each target inspection area in the arrangement sequence.

[0067] The processor can select any target inspection area that is closest to the airport of the drone from all the target inspection areas. The processor can use the airport of the drone as the center of the circle and determine the arrangement order of all the target inspection areas in sequence according to a preset direction. The preset direction can be a direction away from the center of the circle in a clockwise or counterclockwise direction. For example, Figure 3 As shown, a schematic diagram of a target inspection area is provided. Among them, the target inspection area includes R11 to R28, and the arrangement order at this time can be R11, R12...R17, R18, R21, R22...R27, R28, or R18, R17...R12, R11, R28, R27...R22, R21. The processor can determine the inspection order according to the optimal order of each target inspection area in the arrangement order.

[0068] In an embodiment of the present application, the method also includes: in the process of executing inspection tasks of different task levels in sequence according to the inspection order, determining whether there is an emergency inspection task whose task start time is the current time; if there is an emergency inspection task, controlling the drone to suspend the execution of the current inspection task, and controlling the drone to execute the emergency inspection task.

[0069] The drone can also perform emergency inspection tasks. Among them, the emergency inspection task can also correspond to an inspection task model. Specifically, the task level in the inspection task model of the emergency inspection task can be set to level 0. In the process of executing inspection tasks of different task levels in sequence according to the inspection order, the processor can determine whether there is an emergency inspection task with a task start time of the current time, that is, an inspection task that needs to be executed immediately at the current time. In the case of an emergency inspection task, the processor can control the drone to suspend the execution of the current inspection task, and control the drone to perform the emergency inspection task.

[0070] In an embodiment of the present application, the method also includes: before the drone performs the inspection task in sequence according to the task level, determining whether there is a time-sensitive task with a fixed task start time; after there is a time-sensitive task and the drone performs inspection in accordance with the inspection order, controlling the drone to suspend the execution of the current inspection task at the fixed task start time, and executing the time-sensitive task according to the fixed task start time.

[0071] The drone can also perform time-sensitive tasks. Among them, the time-sensitive tasks can also correspond to inspection task models. Specifically, the inspection task model of the time-sensitive tasks can also include the execution time of the task start. Before the drone performs the inspection tasks in sequence according to the task level, the processor can determine whether there is a time-sensitive task with a fixed task start time. After there is a time-sensitive task and the drone performs inspections in accordance with the inspection sequence, the processor can control the drone to suspend the execution of the current inspection task at the fixed task start time, and execute the time-sensitive task according to the fixed task start time.

[0072] Through the above technical scheme, before the UAV performs the inspection tasks in sequence according to the task level, the location information of the inspection tasks of the same task level is obtained; multiple initial inspection areas are generated according to the location information of the inspection tasks of the same task level, the maximum working radius of the UAV and the preset rotation angle; one or more target inspection areas corresponding to each initial inspection area are determined according to the number of inspection tasks in each initial inspection area; at least one task execution order is determined when the UAV performs all inspection tasks in each target inspection area; the total distance time and total flight sorties required for the UAV to inspect all inspection tasks in each target inspection area according to each task execution order are determined; the optimal order of the UAV when performing all inspection tasks in each target inspection area is determined according to the total distance time and the total flight sorties; the inspection order of the UAV when performing the inspection tasks of the same task level is determined according to all the optimal orders, so as to reduce the flight sorties and return times of the UAV and reduce the proportion of non-task time of the UAV, so that the inspection order of the UAV is more reasonable and the inspection efficiency of the UAV is improved.

[0073] Figure 1 FIG. 1 is a flow chart of a method for determining a drone inspection sequence in one embodiment. It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0074] In one embodiment, a device for determining a drone inspection sequence is provided, comprising:

[0075] a memory configured to store instructions;

[0076] The processor is configured to call instructions from the memory and implement the above-mentioned method for determining the inspection order of the drone when executing the instructions.

[0077] In one embodiment, a storage medium is provided, on which a program is stored, and when the program is executed by a processor, the above-mentioned method for determining the inspection order of drones is implemented.

[0078] In one embodiment, a processor is provided, and the processor is used to run a program, wherein the program executes the above-mentioned method for determining the inspection order of a drone when running.

[0079] In an embodiment of the present application, a mine inspection system is provided, comprising:

[0080] Drones are used to perform inspection tasks within the mining area, including mine slope inspection tasks, production inspection tasks, pre-blasting inspection tasks, and dam body inspection tasks;

[0081] A charging device for supplying power to the drone;

[0082] The above-mentioned device for determining the inspection order of drones.

[0083] Among them, the charging device can be installed in the airport of the drone.

[0084] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 4As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as the inspection sequence of the drone. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a method for determining the inspection sequence of the drone is implemented.

[0085] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0086] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: before a drone performs inspection tasks in sequence according to task levels, location information of inspection tasks of the same task level is obtained; multiple initial inspection areas are generated according to the location information of inspection tasks of the same task level, the maximum working radius of the drone, and a preset rotation angle; one or more target inspection areas corresponding to each initial inspection area are determined according to the number of inspection tasks in each initial inspection area; at least one task execution order is determined when the drone performs all inspection tasks in each target inspection area; the total distance time and total flight sorties required for the drone to inspect all inspection tasks in each target inspection area according to each task execution order; the optimal order for the drone to perform all inspection tasks in each target inspection area according to the total distance time and the total flight sorties is determined; and the inspection order when the drone performs inspection tasks of the same task level is determined according to all the optimal orders.

[0087] In one embodiment, determining one or more target inspection areas corresponding to each initial inspection area according to the task number of inspection tasks in each initial inspection area includes: when the task number of inspection tasks in each initial inspection area is greater than a first preset number, dividing each initial inspection area into a first area and a second area of ​​equal area; determining the task number of inspection tasks in the first area and the second area until each initial inspection area is divided into pending inspection areas with a task number less than or equal to the first preset number; judging whether the task number of inspection tasks in each pending inspection area is less than or equal to a second preset number, and the second preset number is less than the first preset number; when the task number of inspection tasks in each pending inspection area is less than or equal to the second preset number, determining the total number of inspection tasks in each pending inspection area and the pending inspection areas adjacent to each pending inspection area; when the total number is less than or equal to a third preset number, merging each pending inspection area with the adjacent pending inspection areas until the total number is greater than the third preset number, to obtain one or more target inspection areas corresponding to each initial inspection area, wherein the third preset number is greater than the second preset number and less than the first preset number.

[0088] In one embodiment, determining the total distance time and total flight sorties required for the drone to inspect all inspection tasks of each target inspection area in accordance with each task execution sequence includes: for each task execution sequence, when the drone is in the execution position of any inspection task in the task execution sequence, obtaining the remaining working time of the drone; determining the distance time required to fly from the execution position of any inspection task to the execution position of the next inspection task; when the remaining working time is less than the distance time, determining that the drone needs to fly to the installation position of the drone, and the number of flights when the drone inspects in accordance with the task execution sequence is increased by one, and the distance time when the drone inspects in accordance with the task execution sequence is accumulated; when the remaining working time is greater than or equal to the distance time, determining that the drone needs to fly to the execution position of the next inspection task, and the number of flights when the drone inspects in accordance with the task execution sequence is increased by one, and the distance time when the drone inspects in accordance with the task execution sequence is accumulated.

[0089] In one embodiment, determining the optimal order for the drone to perform all inspection tasks in each target inspection area based on the total journey time and the total number of flights includes: when there are multiple minimum total journey times and no multiple minimum total number of flights, determining the task execution order corresponding to the minimum total number of flights as the optimal order for the corresponding target inspection area; when there are multiple minimum total journey times and multiple minimum total number of flights, selecting any one task execution order from the multiple task execution orders corresponding to the minimum total journey time and the minimum total number of flights as the optimal order for the corresponding target inspection area.

[0090] In one embodiment, the method also includes: in the process of executing inspection tasks of different task levels in sequence according to the inspection order, determining whether there is an emergency inspection task whose task start time is the current time; if there is an emergency inspection task, controlling the drone to suspend the execution of the current inspection task, and controlling the drone to execute the emergency inspection task.

[0091] In one embodiment, the method also includes: before the drone performs the inspection task in sequence according to the task level, determining whether there is a time-sensitive task with a fixed task start time; after there is a time-sensitive task and the drone performs inspection in the inspection order, controlling the drone to suspend the execution of the current inspection task at the fixed task start time, and executing the time-sensitive task according to the fixed task start time.

[0092] In one embodiment, determining the inspection order of a drone when performing inspection tasks of the same mission level based on the optimal order of all includes: selecting any target inspection area that is closest to the drone's airport from all target inspection areas; determining the arrangement order of all target inspection areas in sequence according to a preset direction with the drone's airport as the center of the circle; and determining the inspection order based on the optimal order of each target inspection area in the arrangement order.

[0093] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initializes method steps for determining a drone inspection sequence.

[0094] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0095] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0098] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0099] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0100] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0101] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0102] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining the inspection sequence of drones, characterized in that: The method comprises: Before the UAV performs inspection tasks in sequence according to the task level, the location information of the inspection tasks of the same task level is obtained; Generate multiple initial inspection areas according to the location information of the inspection tasks of the same task level, the maximum working radius of the drone, and a preset rotation angle; Determine one or more target inspection areas corresponding to each initial inspection area according to the number of inspection tasks in each initial inspection area; Determining at least one task execution order of the drone when performing all inspection tasks in each target inspection area; Determine the total distance time and total flight times required for the UAV to inspect all inspection tasks of each target inspection area in the order of each task execution; Determine the optimal order for the drone to perform all inspection tasks in each target inspection area according to the total distance time and the total number of flights; The inspection order of the UAV when performing inspection tasks of the same task level is determined according to the optimal order of all.

2. The method for determining the inspection sequence of drones according to claim 1, characterized in that: Determining one or more target inspection areas corresponding to each initial inspection area according to the number of inspection tasks in each initial inspection area includes: When the number of inspection tasks in each initial inspection area is greater than a first preset number, each initial inspection area is divided into a first area and a second area of ​​equal area; Determine the task quantity of the inspection tasks in the first area and the second area until each initial inspection area is divided into pending inspection areas with a task quantity less than or equal to the first preset quantity; Determine whether the number of inspection tasks in each pending inspection area is less than or equal to a second preset number, the second preset number being less than the first preset number; When the number of inspection tasks in each pending inspection area is less than or equal to the second preset number, determining the total number of inspection tasks in each pending inspection area and the pending inspection areas adjacent to each pending inspection area; When the total number is less than or equal to a third preset number, each pending inspection area is merged with an adjacent pending inspection area until the total number is greater than the third preset number, to obtain one or more target inspection areas corresponding to each initial inspection area, wherein the third preset number is greater than the second preset number and less than the first preset number.

3. The method for determining the inspection sequence of drones according to claim 1, characterized in that: The total distance time and total flight times required for the drone to inspect all inspection tasks of each target inspection area according to each task execution order include: For each task execution sequence, when the drone is in an execution position of any inspection task under the task execution sequence, obtaining the remaining working time of the drone; Determine the time required to fly from the execution location of any inspection task to the execution location of the next inspection task; When the remaining working time is less than the distance time, it is determined that the UAV needs to fly to the installation location of the UAV, and the number of flights of the UAV when inspecting according to the task execution sequence is increased by one, and the distance time when the UAV inspects according to the task execution sequence is accumulated; When the remaining working time is greater than or equal to the distance time, it is determined that the UAV needs to fly to the execution location of the next inspection task, and the number of flights of the UAV when inspecting according to the task execution sequence is increased by one, and the distance time of the UAV when inspecting according to the task execution sequence is accumulated.

4. The method for determining the inspection sequence of drones according to claim 1, characterized in that: The determining of the optimal order of the UAV in performing all inspection tasks in each target inspection area according to the total distance time and the total flight sorties includes: In the case where there are multiple minimum total journey times and there are not multiple minimum total flight sorties, the task execution order corresponding to the minimum total flight sorties is determined as the optimal order for the corresponding target inspection area; When there are multiple minimum total journey times and multiple minimum total flight sorties, one task execution sequence is selected from multiple task execution sequences corresponding to the minimum total journey time and the minimum total flight sorties as the optimal sequence for the corresponding target inspection area.

5. The method for determining the inspection sequence of drones according to any one of claims 1 to 4, characterized in that: The method further comprises: In the process of executing inspection tasks of different task levels in sequence according to the inspection order, it is determined whether there is an emergency inspection task whose task start time is the current time; In the case where the emergency inspection task exists, the drone is controlled to suspend the execution of the current inspection task, and the drone is controlled to execute the emergency inspection task.

6. The method for determining the inspection sequence of drones according to any one of claims 1 to 4, characterized in that: The method further comprises: Before the UAV performs inspection tasks in sequence according to the task level, it is determined whether there is a time-sensitive task with a fixed task start time; After the time-sensitive task exists and the drone performs inspection according to the inspection sequence, the drone is controlled to suspend execution of the current inspection task at the fixed task start time, and execute the time-sensitive task according to the fixed task start time.

7. The method for determining the inspection sequence of drones according to claim 1, characterized in that: The method of determining the inspection order of the drone when performing inspection tasks of the same task level according to all the optimal orders includes: Select any target inspection area closest to the airport of the drone from all target inspection areas; Taking the airport of the drone as the center of the circle, determine the arrangement order of all target inspection areas in sequence according to the preset direction; The inspection sequence is determined according to the optimal sequence of each target inspection area in the arrangement sequence.

8. A device for determining the inspection sequence of drones, characterized in that: The device comprises: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the method for determining the inspection order of a drone according to any one of claims 1 to 7 when executing the instructions.

9. A mine inspection system, characterized in that: include: UAVs are used to perform inspection tasks within the mine area, including mine slope inspection tasks, production inspection tasks, pre-blasting inspection tasks, and dam body inspection tasks; A charging device, used to supply power to the drone; The device for determining the inspection sequence of drones according to claim 8.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the method for determining the inspection sequence of a drone according to any one of claims 1 to 7.

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