Unmanned aerial vehicle hangar site selection planning and large-scale communication base station intelligent inspection method and device and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and particularly discloses an unmanned aerial vehicle hangar site selection planning and large-scale communication base station intelligent inspection method and device, and a storage medium, and the method comprises the steps: obtaining the latitude and longitude of a communication site in a planning region; acquiring a communication site closest to any communication site, and connecting the communication site with a first straight line; representing the number of the first straight lines connected with the communication sites by using degrees; for the communication site with the degree of 1, acquiring a second near field communication site, and connecting the two communication sites by using a second straight line; the unmanned aerial vehicle hangar is arranged at the communication site position with the degree larger than or equal to 3; the communication sites with the degrees being odd numbers are extracted, linear distance calculation is conducted on any two communication sites with the degrees being odd numbers, and the two communication sites with the closest distance are connected through a third straight line; and by taking the communication site as a point and taking the first straight line, the second straight line and the third straight line as edges, constructing an Euler diagram to obtain an optimal loop of the Euler loop.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles (UAVs), and particularly to a method, device, and storage medium for UAV hangar site selection planning and intelligent inspection of large-scale communication base stations. Background Art

[0002] A UAV hangar refers to a place for storing, repairing, deploying, and managing UAVs. The UAV hangar can adopt digital management and intelligent deployment technologies, and with the help of advanced UAV equipment and software systems, achieve centralized control and optimized scheduling of UAVs.

[0003] The use of UAV inspections in various industries is increasing. Limited by the limited power supply for endurance, UAVs need to replenish or replace the power supply during the inspection process. How to effectively provide power supply for UAVs immediately during the inspection process directly affects the inspection ability and efficiency of UAVs. As a place for storing, deploying, and managing UAVs, the UAV hangar can provide services such as docking, charging, and replacing the power supply for endurance for UAVs. Whether the location of the UAV hangar is set scientifically and reasonably affects the later UAV inspection path planning and the investment cost of the UAV hangar.

[0004] At present, for the selection of the location of the UAV hangar, it is mainly based on the regional inspection requirements, that is, there is a need for UAV inspections in some areas, and a UAV hangar is set in this area as a place for UAVs to dock. This method is mainly applicable to the scenario where the coverage of early UAV inspections is small. With the application of UAV inspections in the communication field, the inspection of communication base stations by UAVs will become more and more popular. The communication station sites are widely distributed. To achieve unmanned intelligent daily inspections of communication base stations, UAV hangars need to be arranged in the areas where there are communication base stations. If the UAV hangar is set around the communication base station, it is necessary to conduct property negotiation points and power introduction, etc., and additional land lease costs are also required, which hinders the development of UAV inspections in the communication field. As existing communication station sites are places rich in power supply resources and communication resources, the UAV hangar can be completely set on the communication station site, which can not only meet the power demand of UAVs but also meet the communication demand of UAVs, save the costs of property negotiation and site rent, and is also beneficial for daily maintenance. Therefore, how to scientifically and reasonably plan and select the location of the UAV hangar based on existing communication base stations, obtain the optimal inspection path, improve the utilization rate of the UAV hangar while increasing the utilization rate of the UAV on-board power supply, and realize the intelligent daily inspection of UAVs is a technical problem to be solved urgently. Summary of the Invention

[0005] The purpose of this application is to provide a method, device, and storage medium for the location planning of a drone hangar and the intelligent inspection of large-scale communication base stations, aiming to solve the problem of how to scientifically and reasonably plan the location of a drone hangar based on existing communication base stations, obtain the optimal inspection path, improve the utilization rate of the drone hangar while enhancing the utilization rate of the drone's on-board power supply, and achieve the intelligent daily inspection of drones.

[0006] To achieve the above objective, an embodiment of this application provides a method for the location planning of a drone hangar and the intelligent inspection of large-scale communication base stations, including: Determine the planning area of the drone hangar and obtain the longitude and latitude of the communication station sites in the planning area; Obtain the communication station site closest to any communication station site in the planning area and connect them with a first straight line; Express the number of the first straight lines connecting the communication station sites in "degrees"; Iterate through the "degrees" of all communication station sites in the planning area. For the communication station sites with a "degree" of 1, obtain their second-closest communication station sites and connect the two communication station sites with a second straight line to form a connected graph; Iterate through the "degrees" of all communication station sites and set the drone hangar at the location of the communication station sites with a "degree" greater than or equal to 3; Iterate through all communication station sites in the planning area, judge the parity of the "degree", extract the communication station sites with an odd "degree", calculate the straight-line distance between any two communication station sites with an odd "degree", connect the two closest communication station sites with a third straight line without repeated connection between the communication station sites, and make the communication station sites with an odd "degree" become communication station sites with an even "degree"; Construct an Euler graph with the communication station sites as points and the first straight line, the second straight line, and the third straight line as edges, and obtain the optimal circuit of the Euler circuit through the Fleury algorithm.

[0007] Optionally, the step of obtaining the communication station site closest to any communication station site in the planning area and connecting them with a first straight line specifically includes: Number all communication station sites in the planning area and create a communication station site set V = {v 1 ,v 2 ,v 3 ,…,v i ,…,v n} of all communication station sites in the planning area, where v i represents the i-th communication station site and n is the total number of all communication station sites in the planning area; calculate the distance set d 1 between communication station site v 2 and v 3 ,…,v i ,…,v n ; 1 ={d 1,2, d 1,3 , …, d 1,i , …, d 1,n}), where d 1,i represents the distance value between the communication station address v 1 and the i-th communication station address v i in the planned area. Compare all the distance values in the distance set d 1 , select the minimum distance value min d 1,i , and connect the two communication station addresses v 1 and v 2 associated with the minimum distance value with a first straight line; Perform the above operations on v 2 , v 3 , …, v i , …, v n until all the communication station addresses in the planned area are traversed, and obtain the set min d i ={min d 1,i , min d 2,i ,..., mind i,j ,..., min d i,n , min d n,j}, where j = 1, 2, 3,..., n, n is the total number of all communication station addresses in the planned area, and i is not equal to j; the first straight line connects the two communication station addresses associated with the corresponding minimum distance value.

[0008] Optionally, the number of the first straight lines connecting the communication station addresses is represented by "degree", which specifically includes: After completing the connection of the communication station address closest to any communication station in the planned area with the first straight line, each communication station address will have at least 1 first straight line connected to another communication station address, that is, the "degree" of each communication station address is at least 1. Statistically analyze the "degree" of all communication station addresses in the planned area, and mark the "degree" of the i-th communication station address v i as du i , and initialize du i = 0.

[0009] Optionally, the statistical analysis of the "degree" of all communication station addresses in the planned area specifically includes: Statistically analyze the i-th communication station address v i in the set min d 1,i ={min d 2,i , min d i,j ,..., min d i,n ,..., min d n,j} of the minimum distance value iThe number of occurrences of the corresponding communication station address number in the set of minimum distance values. Each time the communication station address number appears, the "degree" of the communication station address v is incremented by 1. Traverse the entire set of minimum distances min d i du i to obtain the "degree" of each communication station address in the planned area. Denote the set of "degrees" as du = {du i , du 1 , …, du 2 , …, du i , …, du n}; When d i = d 1,i appears in the set of minimum distance values min d 2,i = {min d i,j , min d i,n , ..., min d n,j , mind j,i = d i,j , subtract 1 from the "degree" du i of v i and subtract 1 from the "degree" du j of v j .

[0010] Optionally, traverse the "degrees" of all communication station addresses in the planned area. For a communication station address with a "degree" of 1, obtain its second closest communication station address and connect the two communication station addresses with a second straight line. Specifically, it includes: Traverse the set of "degrees" du = {du 1 , du 2 , …, du i , …, du n}, extract the communication station addresses v i with du i = 1 to form a set of communication station addresses U = {…, v i , …}, and corresponding to the set communication station address numbers, delete the minimum distance from the distance set d i = {d i,1 , d i,2 , …, d i,j , …, d i,n} of the i-th communication station address from the set of communication station addresses to obtain the distance set d ’ i = {d i,1 , d i,2 , …, d i,j , …, d i,n-1} of each communication station address in the set of communication station addresses U that lacks the first closest distance, where i is not equal to j; traverse d ’ iFor each communication station address distance, select the minimum distance value min d i,j , use the second straight line to connect v i and v j of the two communication station addresses; The second short-distance communication station address does not include the two adjacent communication station addresses of any one communication station address.

[0011] Optionally, for the "degree" of traversing all communication station addresses, set the drone hangar at the position of the communication station address where the "degree" is greater than or equal to 3, specifically including: When there are v i and v j two communication station addresses that meet the conditions: passing through the shortest path from the communication station address v i to the communication station address v j at most 1 communication station address appears in between, and at the same time v i and v j the "degrees" of the two communication station addresses are equal and greater than or equal to 3, with the middle position of the straight line connection of v i and v j as the boundary, for the connected graphs on each side of the two communication station addresses respectively, count the number x i of communication station addresses within the drone flight range radius in the direction of v i starting from v i , count the number x j of communication station addresses within the drone flight range radius in the direction of v j starting from v j , when x i > x j , preferentially select the v i communication station address as the drone hangar planning position; when x j > x i , preferentially select the v j communication station address as the drone hangar planning position; When the number of communication station addresses in some connected graphs in the planned area is greater than 6 and the "degree" of each communication station address is 2, plan a low-cost small drone hangar at the position of the central communication station address.

[0012] Optionally, the construction of the Euler graph further includes: According to the optimal loop planning path of the Euler circuit, monitor and judge in real time whether the drone has traversed all the communication station addresses in the planned path. If all the communication station addresses have been traversed, according to the distance of the drone to the drone hangar in the inspection area, select the drone hangar closest to the drone to dock as the end point of the drone inspection, that is, calculate the straight-line distance ds from the real-time position of the drone to the starting point, and calculate the distance d f from the drone to the first short-distance drone hangar within the drone endurance range. When ds > d fWhen selecting the distance d f the drone hangar at f is selected as the end point of the drone inspection, and an Euler path is constructed.

[0013] Optionally, it further includes: the drone hangar and the drone are controlled by the cloud platform, specifically including: The cloud platform estimates the endurance ability of the drone's endurance power supply during the inspection process, and sets in advance that the drone hangar provides replacement endurance power supply and docking services for the drone. The drone realizes information interaction with the cloud platform through the communication module, and obtains the inspection area, inspection route and communication station address information; The drone conducts inspections according to the optimal loop based on the cloud platform information. The cloud platform monitors the drone's endurance power supply in real time, estimates the drone's endurance ability, and the cloud platform controls the drone to replace the endurance power supply or dock at the planned location of the drone hangar; The cloud platform controls the drone to replace the endurance power supply or dock at the planned location of the drone hangar, specifically including: If there are still communication station addresses in the determined inspection area that have not been inspected, the drone obtains replacement endurance power supply services from the drone hangar; if the inspection area has been inspected and the drone's endurance power supply cannot meet the drone's flight to the next drone hangar according to the optimal loop, the cloud platform searches for the nearest drone hangar nearby and instructs the drone to dock; The drone obtains replacement endurance power supply services from the drone hangar, specifically including: The cloud platform monitors the endurance power supply ability of the drone and the location distribution of the drone hangar in real time, and estimates whether the drone's endurance power supply can conduct communication station inspections according to the optimal loop after completing the communication station address inspection and reach the next drone hangar. If the drone's endurance power supply cannot meet the requirements of continuing the subsequent communication station inspections and reaching the next drone hangar after completing a certain communication station address inspection according to the optimal loop, the cloud platform searches for the nearest drone hangar during the drone inspection, controls the drone hangar to provide services for the drone, and controls the drone to fly to the nearest drone hangar to replace the endurance power supply and then return to the optimal loop.

[0014] To achieve the above object, the present application further provides a drone hangar location planning and large-scale communication base station intelligent inspection device, including: To achieve the above object, the present application further provides a computer storage medium, on which a computer program is stored, and when the computer program is executed by a machine, the steps of the method described above are implemented.

[0015] The embodiments of the present application have the following advantages: (1) This application proposes a method for planning and locating an unmanned aerial vehicle (UAV) hangar based on communication base stations. By arranging a UAV hangar on an existing communication site and utilizing the existing resources of the communication site, it can provide power supply and communication resources for the UAV hangar, reducing the construction cycle and cost of the UAV hangar. For the location planning of the UAV hangar, it is necessary to consider providing services for the UAV with high utilization rate of the UAV hangar. This application obtains the number of surrounding communication sites associated with the nearest distance of any communication site by creating the "degree" of the communication site. The larger the "degree", the more surrounding communication sites with short distances there are for this communication site. By setting the UAV hangar at this communication site, the UAV can obtain supplementary power for endurance in a low-energy-consuming manner during the inspection of the communication site. This method can scientifically and reasonably plan and locate the position of the UAV hangar based on the communication base station, achieving at least a ratio of the number of base stations / the number of UAV hangars = 4:1. While reducing the construction cost, it realizes the full coverage of the communication base stations by the UAV inspection.

[0016] (2) This application proposes an optimal path planning method for wireless base station inspection. Taking the shortest distance between communication sites as the edge and the communication sites as the vertices, the communication sites are constructed into an Euler graph, and an optimal circuit of an Euler circuit is obtained through the Fleury algorithm. This method can achieve passing through the shortest path between communication sites once and only once and passing through all communication sites, and complete the inspection of the communication sites in the inspection area on the premise of reducing the energy consumption of the UAV flight path. This method can avoid inspecting the communication sites along the shortest distance between base stations without repeated paths and passing through the position of the UAV hangar multiple times during the flight, improving the utilization rate of the UAV hangar and providing power for the endurance of the UAV at the same time, realizing unmanned intelligent inspection.

[0017] This application first scientifically and reasonably plans the position of the UAV hangar by creating the "degree" to improve the utilization rate of the UAV hangar. Then, taking the communication sites as vertices and the minimum distance between communication sites as the edge to construct an Euler graph, an optimal circuit is obtained. This optimal circuit includes the position of the UAV hangar, ensuring the high-efficiency use of the UAV's endurance power supply while providing power for the endurance of the UAV in the least energy-consuming way, and can realize the intelligent unmanned inspection of the communication sites in the communication area by the UAV. Description of the Drawings

[0018] In order to more clearly illustrate the implementation manners of this application or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the implementation manners or the prior art. Obviously, the drawings described below are only exemplary. For those of ordinary skill in the art, without creative efforts, other implementation drawings can also be obtained based on the provided drawings.

[0019] Figure 1A flowchart of a method for drone hangar site selection planning and large-scale communication base station intelligent inspection provided by at least one embodiment of the present application; Figure 2 A connectivity graph of a method for drone hangar site selection planning and large-scale communication base station intelligent inspection provided by at least one embodiment of the present application; Figure 3 Another connectivity graph of a method for drone hangar site selection planning and large-scale communication base station intelligent inspection provided by at least one embodiment of the present application; Figure 4 Yet another connectivity graph of a method for drone hangar site selection planning and large-scale communication base station intelligent inspection provided by at least one embodiment of the present application; Figure 5 Another connectivity graph of a method for drone hangar site selection planning and large-scale communication base station intelligent inspection provided by at least one embodiment of the present application. Detailed implementation manners

[0020] The following specific embodiments illustrate the implementation manners of the present application. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0021] It should be noted that in the claims and the specification of the present application, the steps can be executed substantially in parallel or in the reverse order under appropriate circumstances, depending on the functions involved. The terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0022] It should also be noted that the terms "step (1)", "step (2)", "step (3)", etc. in the claims and the specification of the present application are used to distinguish different steps, rather than to describe a specific order or sequence. It should be understood that these steps can be executed substantially in parallel or in the reverse order under appropriate circumstances, depending on the functions involved.

[0023] In addition, the technical features involved in different implementation manners of the present application described below can be combined with each other as long as they do not conflict with each other.

[0024] One embodiment of the present application provides a method for drone hangar site selection planning and large-scale communication base station intelligent inspection. Refer to Figure 1 , Figure 1The flowchart of a method for drone hangar site selection planning and intelligent inspection of large-scale communication base stations provided in at least one embodiment of the present application. It should be understood that the method may also include additional boxes not shown and / or boxes shown may be omitted, and the scope of the present application is not limited in this regard.

[0025] At step 101, determine the planning area of the drone hangar and obtain the longitude and latitude of the communication site in the planning area.

[0026] Specifically, after determining the planning area of the drone hangar, obtain the longitude and latitude of the communication site and the communication site type information in the planning area according to the existing network engineering parameters, which are respectively used to calculate the distance between communication sites and estimate the inspection time of the communication site.

[0027] At step 102, plan the location of the drone hangar.

[0028] In some embodiments, the planning of the location of the drone hangar specifically includes: Step (1): Calculate the communication site closest to any communication site in the planning area and connect them with a first straight line; Step (2): Represent the number of the first straight lines connecting the communication sites in "degrees"; Step (3): Iterate through the "degrees" of all communication sites in the planning area. For the communication sites with a "degree" of 1, calculate their second closest communication sites and connect the two communication sites with a second straight line to form a connected graph; Step (4): Iterate through the "degrees" of all communication sites. Preferentially set the drone hangar at the location of the communication site with a "degree" greater than or equal to 3. The larger the "degree", the more surrounding sites are associated with the communication site. Setting the drone hangar at the location of the communication site with a large "degree" can provide the closest docking or battery replacement service for the drones inspecting the surrounding sites, improve the endurance ability while greatly improving the utilization rate of the drone hangar and providing services for the drones.

[0029] Specifically, the technical solution of some embodiments of the present application plans and selects the location of the drone hangar based on the first closest distance and the second closest distance of the communication site. This method mainly aims at the early situation where the power endurance of the drone base station is relatively weak and the area where the distance between communication sites is relatively dense. With the improvement of the airborne power endurance, in some other embodiments, the third closest base station, the fourth closest base station and other close communication sites can continue to be included in the proposed site selection planning method, and the best communication site is obtained as the location for setting the drone hangar by creating the "degree" method.

[0030] In some embodiments, the calculation of the communication site closest to any communication site in the planning area and connecting them with a first straight line specifically includes: Number all communication site addresses within the planning area and create a communication site address set V = {v 1 , v 2 , v 3 , …, v i , …, v n} for all communication site addresses within the planning area, where v i represents the i-th communication site address and n is the total number of all communication site addresses within the planning area; calculate the distance set d 1 between communication site address v 2 and v 3 , …, v i , …, v n as d 1 = {d 1,2 , d 1,3 , …, d 1,i , …, d 1,n}, where d 1,i represents the distance value between communication site address v 1 and the i-th communication site address v i in the planning area. Compare all the distance values in the distance set d 1 , select the minimum distance value min d 1,i , and connect the two communication site addresses v 1 and v 2 associated with the minimum distance value with a first straight line; Perform the above operations on v 2 , v 3 , …, v i , …, v n until all communication site addresses within the planning area are traversed, obtaining a set min d i = {min d 1,i , min d 2,i ,..., mind i,j ,..., min d i,n , min d n,j} of the minimum distance values for all communication site addresses within the planning area, where j = 1, 2, 3,..., n, n is the total number of all communication site addresses within the planning area, and i is not equal to j; connect the two communication site addresses associated with the corresponding minimum distance value with a first straight line.

[0031] In some embodiments, the number of first straight lines connecting communication site addresses is represented by "degree", which specifically includes: After completing connecting the communication site addresses that are the closest to any communication site address within the planning area with first straight lines, each communication site address will have at least 1 first straight line connecting to another communication site address, that is, the "degree" of each communication site address is at least 1. Statistically analyze the "degree" of all communication site addresses within the planning area, and mark the i-th communication site address v iThe "degree" is du i , initialize du i = 0.

[0032] In some embodiments, the statistics of the "degree" of all communication site addresses in the planning area specifically include: Statistical set of minimum distance values min d i = {min d 1,i , min d 2,i ,..., min d i,j ,..., min d i,n , mind n,j} the number of times the communication site address number corresponding to the i-th communication site address v i appears in the set of minimum distance values. Each time the communication site address number appears, the du i of the communication site v i is incremented by 1. Traverse the entire minimum distance set min d i , and the "degree" of each communication site address in the planning area is statistically obtained. Denote the set of "degrees" as du = {du 1 , du 2 , …, du i , …, du n}; When d i = {min d 1,i , min d 2,i ,..., min d i,j ,..., min d i,n , mind n,j} appears as d j,i = d i,j , the "degree" du i of v i is decremented by 1, and the "degree" du j of v j is decremented by 1. Thus, it is avoided that two communication site addresses are the nearest distance communication site addresses to each other, that is, when d j，i = d i，j , it causes duplicate counting statistics of the "degree".

[0033] In some embodiments, traversing the "degree" of all communication site addresses in the planning area, for the communication site addresses with a "degree" of 1, calculate their second nearest distance communication site addresses, and connect the two communication site addresses with a second straight line, specifically including: Traverse the set of "degrees" du = {du 1 , du 2 , …, du i , …, du n}, and set du iCommunication station address v where = 1 i Extract them to form a communication station address set U = {…, v i , …}, and corresponding to the set communication station address numbers, delete the minimum distance in the distance set d i = {d i,1 , d i,2 , …, d i,j , …, d i,n} of the i-th communication station address from the communication station address set to obtain the distance set d ’ i = {d i,1 , d i,2 , …, d i,j , …, d i,n-1} for each communication station address in the communication station address set U, where i is not equal to j; traverse the distances of each communication station address in d ’ i again, select the minimum distance value min d i,j , and connect the two communication station addresses v i and v j with a second straight line. Thus, the communication station address with a "degree" of 1 will not become an isolated communication station address.

[0034] In some embodiments, to avoid three communication station addresses forming an isolated communication station address group, the second nearest communication station address does not include the two adjacent communication station addresses of any one communication station address.

[0035] Specifically, for example, as Figure 2 shown, the nearest communication station addresses of communication station B and communication station C are both communication station A, and B and C are both adjacent communication station addresses of A, then B and C cannot be each other's second nearest communication station addresses.

[0036] Specifically, after steps (1) and (3), all communication station addresses in the planned area are connected to each other through the first straight line or the second straight line between communication station addresses, that is, all communication station addresses in the planned area can reach each other through the first straight line or the second straight line, forming a connected graph.

[0037] In some embodiments, when traversing the "degree" of all communication station addresses, the drone hangar is preferentially set at the position of the communication station address with a "degree" greater than or equal to 3, specifically including: When there are two communication station addresses v i and v j that meet the conditions: passing through the shortest path from communication station address v i to communication station address v j there is at most 1 communication station address, and at the same time v i and v jWhen the "degree" of two communication site addresses is equal and greater than or equal to 3, taking the midpoint of the straight-line connection between v i and v j as the boundary, for the connected graphs on each side of the two communication site addresses respectively (that is, the connected graph on the v i side and the connected graph on the v j side), count the number x i of communication site addresses within the flight range radius of the UAV in the direction from v i to v j side (relative to the direction of the communication site address v i ), count the number x j of communication site addresses within the flight range radius of the UAV in the direction from v j to v i side (relative to the direction of the communication site address v j ). When x i > x j , preferentially select the v i communication site address as the planned location of the UAV hangar; when x j > x i , preferentially select the v j communication site address as the planned location of the UAV hangar.

[0038] Specifically, the larger the "degree" is, the more surrounding communication site addresses are associated with this communication site address. Setting the UAV hangar at the communication site address with a "degree" greater than or equal to 3, and preferably the communication site address with the largest "degree", can provide the closest docking or battery replacement service for the UAVs for peripheral site inspections. While improving the endurance, it greatly improves the utilization rate of the UAV hangar and provides services for the UAVs.

[0039] For example, as Figure 3 shown. The white line in the figure is the shortest straight-line distance between communication site addresses, and the red line is the second shortest straight-line distance between communication site addresses. There is at most 1 communication site address between communication site address A and communication site address B through the shortest path. At the same time, the "degrees" of both communication site addresses A and B are equal and equal to 4. Taking the midpoint of the straight-line connection between communication site address A and communication site address B as the boundary (the black line in the figure), for the connected graphs on each side of the two communication site addresses A and B respectively (that is, the connected graph on the A side and the connected graph on the B side), count the number x A = 3 of communication site addresses within the flight range radius of the UAV in the direction from A to the A side (relative to the direction of communication site address B), count the number x B = 10 of communication site addresses within the flight range radius of the UAV in the direction from B to the B side (relative to the direction of communication site address A). Since x B > x A , preferentially select communication site address B as the planned location of the UAV hangar.

[0040] In some embodiments, when the number of communication station sites in a partially connected graph in the planned area is greater than 6 and the "degree" of each communication station site is 2, and the drone's endurance power cannot meet the inspection endurance capacity of the communication station sites in this connected graph, it is optional to consider planning a low-cost small drone hangar at the location of the central communication station site.

[0041] For example, as Figure 4 shown, the white lines in the figure are the shortest straight-line distances between communication station sites, and the red lines are the second straight-line distances between communication station sites. When the number of communication station sites in the connected graph between communication station C and communication station D is 9 and the "degree" of each communication station site is 2, and the drone's endurance power cannot meet the inspection endurance capacity of the communication station sites in this area, it is possible to consider planning a drone hangar at communication station E.

[0042] At step 103, construct an Euler graph of the communication station sites in the planned area and obtain the optimal circuit.

[0043] In some embodiments, the constructing an Euler graph of the communication station sites in the planned area and obtaining the optimal circuit specifically includes: Traverse all communication station sites in the planned area, judge the parity of the "degree", extract the communication station sites with an odd "degree", calculate the straight-line distance between any two communication station sites with an odd "degree", connect the two communication station sites with the shortest distance with a third straight line and do not repeat the connection between the communication station sites, so that the communication station sites with an odd "degree" become communication station sites with an even "degree"; Taking the communication station sites as points and the first straight line, the second straight line and the third straight line as edges, construct an Euler graph, and obtain an optimal circuit of an Euler circuit through the Fleury algorithm.

[0044] In some embodiments, the constructing of the Euler graph further includes: According to the optimal circuit of the Euler circuit, plan the path, and real-time monitor and judge whether the drone has traversed all communication station sites in the planned path. If all communication station sites have been traversed, according to the distance of the drone to the drone hangar (communication station site) in the inspection area, select the drone hangar closest to the drone to dock as the end point of the drone inspection, that is, calculate the straight-line distance ds from the real-time position of the drone to the starting point, and calculate the distance d of the drone to the first short-distance drone hangar within the drone's endurance range f When ds > d f select the drone hangar at the distance d f as the end point of the drone inspection and construct an Euler path.

[0045] Specifically, constructing an Euler path to avoid waste of the drone's on-board power (Note: Definition of Euler path: A path that passes through each edge in the graph exactly once). For example, as Figure 5As shown in the figure. Drone hangars are provided at communication station sites F, G, and H. The starting point is communication station site F. After inspecting all communication station sites in the planned path according to the optimal circuit FGFHF of the Euler circuit, the drone is located at communication station site H. There is a drone hangar at communication station site H, and the distance d from the real-time position of the drone to the starting point F is calculated. F The distance d from the drone to the first nearest hangar within the drone's endurance range is calculated. H d F > d H An Euler path FGFH is constructed, and the end docking position of the drone is reset at communication station site H to avoid waste of the endurance power of the drone flying back from communication station site H to communication station site F.

[0046] In some embodiments, the drone hangar and the drone are controlled by the cloud platform, which specifically includes: The cloud platform estimates the endurance ability of the drone's endurance power during the inspection process, and sets in advance that the drone hangar provides services such as replacing the endurance power and docking for the drone. The drone realizes information interaction with the cloud platform through the communication module and obtains information such as the inspection area, inspection route, and communication station site. The drone conducts inspections according to the cloud platform information in accordance with the optimal circuit. The cloud platform monitors the drone's endurance power in real time, estimates the drone's endurance ability, and the cloud platform controls the drone to replace the endurance power or dock at the position where the planned drone hangar is located.

[0047] In some embodiments, the cloud platform controls the drone to replace the endurance power or dock at the position where the planned drone hangar is located, which specifically includes: If there are still communication station sites in the determined inspection area that have not been inspected, the drone obtains the service of replacing the endurance power from the drone hangar; if the inspection area has been inspected and the drone's endurance power cannot meet the requirement for the drone to fly to the next drone hangar according to the optimal circuit, the cloud platform searches for the nearest drone hangar nearby and instructs the drone to dock.

[0048] In some embodiments, the drone obtains the service of replacing the endurance power from the drone hangar, which specifically includes: The cloud platform monitors the power capacity of the drone's endurance power supply and the location distribution of the drone hangars in real time, and estimates whether the drone's endurance power supply can complete the communication site inspection according to the optimal loop and reach the next drone hangar after completing the communication site inspection. If the drone's endurance power supply cannot meet the requirement of continuing the subsequent communication site inspection and reaching the next drone hangar after completing a certain communication site inspection according to the optimal loop, the cloud platform searches for the nearest drone hangar nearby during the drone inspection, controls the drone hangar to provide services for the drone, and controls the drone to fly to the nearest drone hangar to replace the endurance power supply and then return to the optimal loop. This ensures that the drone reaches the next drone hangar after completing the communication site inspection according to the optimal loop.

[0049] This embodiment of the present application also provides a device for drone hangar site selection planning and large-scale communication base station intelligent inspection, including: Drones, integrated drone hangars that support functions such as automatic replacement of the drone's on-board battery, communication, and docking, wireless communication modules that support 4G / 5G modes, on-board batteries, on-board video shooting devices, on-board cameras, high-precision GPS positioning devices, cloud platforms, data memories, and processors. Among them, The drone is equipped with a 4G / 5G wireless communication module to maintain real-time data interaction with the cloud platform, realizing data upload at the drone end during the inspection process and receiving real-time control from the cloud platform; The drone hangar receives instructions from the cloud platform in real time through the 4G / 5G wireless communication module and provides services for the drone according to the instruction requirements; The on-board battery is used to power the drone; The on-board video shooting device is used to monitor the drone's flight environment in real time and upload video data to the cloud platform for storage and processing through the on-board wireless communication module; The on-board camera is used to take pictures of some special positions and on-site abnormal situations during the inspection process, and upload picture data to the cloud platform for storage and processing through the on-board wireless communication module; The high-precision GPS positioning device is used to real-time locate the flight position of the drone and feedback the position information data to the cloud platform for storage and processing through the wireless communication module; The cloud platform is used to store the on-site data obtained by the drone, and realize real-time planning and data processing of the communication site inspection route, providing functions of real-time access for the terminal and receiving terminal instructions; The data memory is used to back up and store the data obtained by the on-board video shooting device, camera, and high-precision GPS positioning device, as well as store the program of the image recognition algorithm, and upload the data to the cloud platform for storage and processing through the on-board wireless communication module; The processor is used to run the program of the image recognition algorithm stored in the data memory and complete the instruction requirements of the cloud platform.

[0050] In some embodiments, during the inspection of communication site addresses by the unmanned aerial vehicle (UAV), image recognition algorithms are used to take useful photos and filter out useless pictures, saving on-board storage space and network resources and improving the utilization efficiency of storage resources and network resources.

[0051] For the specific implementation method, refer to the foregoing method embodiments and details will not be elaborated here.

[0052] In summary, (1) This application proposes a method for planning and locating a UAV hangar based on communication base stations. By arranging a UAV hangar on an existing communication site address and utilizing the existing resources of the communication site address, it can provide power supply and communication resources for the UAV hangar, reducing the construction cycle and cost of the UAV hangar. For the location planning of the UAV hangar, it is necessary to consider providing services for the UAV with high utilization rate of the UAV hangar. This application creates a "degree" of the communication site address to obtain the number of surrounding communication site addresses associated with the nearest distance of any communication site address. The larger the "degree", the more surrounding communication site addresses at close range there are for this communication site address. By setting the UAV hangar at this communication site address, the UAV can obtain supplementary power for endurance in a low-energy-consuming manner during the inspection of the communication site address; this method can scientifically and reasonably plan and locate the position of the UAV hangar based on communication base stations, achieving at least a ratio of the number of base stations / the number of UAV hangars = 4:1. While reducing the construction cost, it also realizes full coverage of communication base stations by UAV inspection.

[0053] (2) This application proposes an optimal path planning method for wireless base station inspection. Using the shortest distance between communication site addresses as the edge and the communication site addresses as the vertices, an Euler graph is constructed for the communication site addresses, and an optimal loop of an Euler circuit is obtained through the Fleury algorithm. This method can achieve passing through the shortest path between communication site addresses once and only once and passing through all communication site addresses, and complete the inspection of communication site addresses in the inspection area on the premise of reducing the energy consumption of the UAV flight path; this method can avoid inspecting communication site addresses along the shortest distance between base stations without repeated paths and passing through the position of the UAV hangar multiple times during flight, improving the utilization rate of the UAV hangar and providing endurance power for the UAV at the same time, realizing unmanned intelligent inspection.

[0054] This application first scientifically and reasonably plans the position of the UAV hangar by creating a "degree" to improve the utilization rate of the UAV hangar; then constructs an Euler graph with communication site addresses as vertices and the minimum distance between communication site addresses as the edge to obtain an optimal loop. This optimal loop includes the position of the UAV hangar, ensuring high-efficiency use of the UAV's endurance power while providing endurance power for the UAV in the least energy-consuming manner, and can realize intelligent unmanned inspection of communication site addresses in the communication field by the UAV.

[0055] This application may be a method, apparatus, system, and / or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions thereon for performing various aspects of this application.

[0056] A computer-readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. A computer-readable storage medium may be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanically encoded device such as a punch card or raised structures in grooves having instructions stored thereon, and any suitable combination of the foregoing. The computer-readable storage medium as used herein is not to be construed as a transitory signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0057] The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to various computing / processing devices, or may be downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0058] The computer program instructions for performing the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine - related instructions, microcode, firmware instructions, state - setting data, or source code or object code written in any combination of one or more programming languages, including object - oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer - readable program instructions may be executed entirely on the user's computer, partially on the user's computer, executed as a stand - alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or, alternatively, may be connected to an external computer (e.g., through the Internet using an Internet service provider). In some embodiments, by using the state information of the computer - readable program instructions to customize an electronic circuit, such as a programmable logic circuit, a field - programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute the computer - readable program instructions to implement various aspects of this application.

[0059] Aspects of the present application are described herein with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer - readable program instructions.

[0060] These computer - readable program instructions can be provided to a processing unit of a general - purpose computer, a special - purpose computer, or other programmable data - processing apparatus, thereby producing a machine such that when these instructions are executed by the processing unit of the computer or other programmable data - processing apparatus, a device is produced that implements the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer - readable program instructions can also be stored in a computer - readable storage medium, and these instructions cause a computer, a programmable data - processing apparatus, and / or other devices to work in a specific manner. Thus, the computer - readable medium storing the instructions includes a manufactured article that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0061] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices, causing a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other devices to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing apparatus, or other devices implement the functions / actions specified in one or more boxes of the flowchart and / or block diagram.

[0062] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks may occur in an order different from that noted in the figures. For example, two consecutive blocks may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0063] Note that unless otherwise directly stated, all features disclosed in this specification (including any appended claims, abstract, and drawings) may be replaced by alternative features serving the same, equivalent, or similar purpose. Therefore, unless otherwise explicitly stated, each feature disclosed is only an example of a set of equivalent or similar features. When used, further, preferably, furthermore, and more preferably are simple beginnings for elaborating another embodiment based on the foregoing embodiments, and the content following the further, preferably, furthermore, or more preferably in combination with the foregoing embodiments constitutes a complete composition of another embodiment. Combinations can be arbitrarily made among several further, preferably, furthermore, or more preferably settings following the same embodiment to form another embodiment.

[0064] Although the present application has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it on the basis of the present application, which will be obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present application fall within the scope of protection claimed by the present application.

Claims

1. A method for site selection and planning of drone hangars and intelligent inspection of large-scale communication base stations, characterized in that: include: Determine the planned area for the drone hangar and obtain the longitude and latitude of the communication site in the planned area; Obtain the communication site closest to any communication site in the planning area and connect them with the first straight line; "Degree" is used to represent the number of first straight lines connecting communication sites; Traverse the "degree" of all communication sites in the planning area, obtain the second closest communication site for the communication site with a "degree" of 1, and connect the two communication sites with a second straight line to form a connected graph; Go through the "degrees" of all communication sites and set the drone hangar at the communication site with a "degree" greater than or equal to 3; Traverse all communication sites in the planning area, determine the parity of the "degree", extract the communication sites with odd "degree", calculate the straight-line distance between any two communication sites with odd "degree", connect the two closest communication sites with a third straight line without repeated connection between the communication sites, so that the communication sites with odd "degree" become the communication sites with even "degree"; An Euler graph is constructed with the communication site as a point and the first straight line, the second straight line and the third straight line as edges, and the optimal circuit of the Euler circuit is obtained by the Fleury algorithm.

2. The method for site selection and planning of drone hangars and intelligent inspection of large-scale communication base stations according to claim 1 is characterized in that: The obtaining of the communication site closest to any communication site in the planning area and connecting them with a first straight line specifically includes: All communication sites in the planning area are numbered, and a communication site set V = {v1, v2, v3, ..., v i , …, v n }, where v i represents the i-th communication site, n is the total number of all communication sites in the planning area; calculate the communication site v1 and v2, v3, ..., v i , …, v n The distance set d1={d 1,2 , d 1,3 , …, d 1,i , …, d 1,n }, where d 1,i Represents the communication site v1 and the i-th communication site v in the planning area i Distance value, compare all distance values ​​in distance set d1, and select the minimum distance value min d 1,i , and connect the two communication sites v1 and v2 associated with the minimum distance value with a first straight line; For v2, v3, ..., v i , …, v n Perform the above operations until all communication sites in the planning area are traversed and the minimum distance value set min d of all communication sites in the planning area is obtained. i ={min d 1,i , mind 2,i ,...,mind i,j ,...,mind i,n , mind n,j }, where j=1,2,3,...,n, n is the total number of all communication sites in the planning area, and i is not equal to j; the first straight line connects two communication sites associated with the corresponding minimum distance value.

3. The method for site selection and planning of drone hangars and intelligent inspection of large-scale communication base stations according to claim 2 is characterized in that: The term "degree" is used to represent the number of first straight lines connecting communication sites, specifically including: After the first straight line is used to connect the communication station closest to any communication station in the planning area, each communication station will have at least one first straight line connected to another communication station, that is, the "degree" of each communication station is at least 1. The "degree" of all communication stations in the planning area is counted and the i-th communication station v is marked. i The degree is du i , initialize i =0.

4. The method for site selection and planning of drone hangars and intelligent inspection of large-scale communication base stations according to claim 3 is characterized in that: The statistics of the "degree" of all communication sites in the planning area specifically include: Count the minimum distance value set min d i ={min d 1,i , mind 2,i ,...,mind i,j ,...,mind i,n , mind n,j The i-th communication station address v in} i The number of times the corresponding communication station address number appears in the set of minimum distance values, the communication station address number appears once, and the communication station address v i of i Add 1 once and traverse the entire minimum distance set min d i , get the degree of each communication site in the planning area, and record the set of degrees du = {du1, du2, …, du i ,…,du n }; When in the minimum distance value set min d i ={min d 1,i , mind 2,i ,...,mind i,j ,...,mind i,n , mind n,j d appears in j,i = d i,j When v i The degree of i Subtract 1 once, and v j The degree of j Subtract 1 once.

5. The method for site selection and planning of drone hangars and intelligent inspection of large-scale communication base stations according to claim 4 is characterized in that: The traversing the "degrees" of all communication sites in the planning area, obtaining the second short-distance communication site for a communication site with a "degree" of 1, and connecting the two communication sites with a second straight line specifically includes: Traverse the set of "degree" du={du1, du2, ..., du i ,…,du n }, will i =1 communication station address v i Extracted to form the communication site set U = {…, v i , ...}, and corresponding to the set communication site number, the distance set d of the i-th communication site i ={d i,1 , d i,2 , …, d i,j , …, d i,n } is deleted from the communication site set, and the distance set d in which each communication site in the communication site set U lacks the first close distance is obtained. ’ i ={d i,1 , d i,2 , …, d i,j , …, d i,n-1 }, where i is not equal to j; traverse d again ’ i The distance between each communication station and the minimum distance min d is selected. i,j , use the second straight line to connect v i and v j Two communication sites are connected; The second short-range communication site does not include two adjacent communication sites of any communication site.

6. The method for site selection and planning of drone hangars and intelligent inspection of large-scale communication base stations according to claim 1 is characterized in that: The traversal of the "degrees" of all communication sites and setting the drone hangar at the communication site position with a "degree" greater than or equal to 3 specifically includes: When v appears i and v j The two communication sites meet the conditions: through the shortest path from the communication site v i To the communication station v j There is at most one communication station between them, and v i and v j When the degrees of two communication sites are equal and greater than or equal to 3, v i and v j The middle position of the straight line is the boundary. The connectivity diagrams on each side of the two communication sites are counted. i Starting point to v i Number of communication stations within the sideward UAV range radius x i , statistics are based on v j Starting point to v j Number of communication stations within the sideward UAV range radius x j , when x i >x j When v i The communication station site is used as the planning location of the drone hangar; when x j >x i When v j The communication station site is used as the planned location for the drone hangar; When the number of communication sites in the partially connected graph in the planning area is greater than 6 and the degree of each communication site is 2, a low-cost small UAV hangar is planned at the central communication site.

7. The method for site selection and planning of drone hangars and intelligent inspection of large-scale communication base stations according to claim 1 is characterized in that: The constructing of the Euler graph further includes: According to the optimal loop planning path of the Euler loop, real-time monitoring is performed to determine whether the drone has traversed all the communication sites on the planned path. If all the communication sites have been traversed, the drone hangar closest to the drone is selected as the end point of the drone inspection based on the distance between the drone and the drone hangar in the inspection area. That is, the straight-line distance ds from the real-time position of the drone to the starting point is calculated, and the distance d from the drone to the first close-range drone hangar within the drone's endurance range is calculated. f , when ds>d f When the distance d is selected f The drone hangar is used as the end point of drone inspection, and an Euler path is constructed.

8. The method for site selection and planning of drone hangars and intelligent inspection of large-scale communication base stations according to claim 1 is characterized in that: Also includes: The drone hangar and drones are controlled by the cloud platform, including: The cloud platform estimates the endurance of the drone's battery power supply during the inspection process, and sets up a drone hangar in advance to provide replacement battery power supply and docking services for the drone. The drone exchanges information with the cloud platform through the communication module to obtain information about the inspection area, inspection route and communication station address; The drone conducts inspections according to the optimal circuit based on the information from the cloud platform. The cloud platform monitors the drone's endurance power supply in real time, estimates the drone's endurance, and controls the drone to replace the endurance power supply or dock at the planned drone hangar location. The cloud platform controls the drone to replace the endurance power supply or dock at the planned drone hangar location, specifically including: If there are still communication sites in the determined inspection area that have not been inspected, the drone will obtain replacement endurance power supply service from the drone hangar; if the inspection area has been completed and the drone endurance power supply cannot meet the drone's optimal route to the next drone hangar, the cloud platform will search for the nearest drone hangar nearby and instruct the drone to dock; The drone obtains a replacement endurance power supply service from the drone hangar, specifically including: The cloud platform monitors the drone's endurance power supply capacity and the location distribution of drone hangars in real time, and estimates whether the drone's endurance power supply can complete the communication site inspection according to the optimal loop and reach the next drone hangar. If the drone's endurance power supply cannot meet the requirements of completing a communication site inspection according to the optimal loop and continuing to the subsequent communication site inspections to reach the next drone hangar, the cloud platform searches for the nearest drone hangar during the drone inspection, controls the drone hangar to provide services for the drone, and controls the drone to fly to the nearest drone hangar to replace the endurance power supply and then return to the optimal loop.

9. A drone hangar site selection planning and large-scale communication base station intelligent inspection device, characterized in that: include: Unmanned aerial vehicle, unmanned aerial vehicle hangar, wireless communication module, airborne battery, airborne video shooting equipment, airborne camera, positioning equipment, cloud platform, data storage device and processor, wherein: The UAV is equipped with a wireless communication module to maintain real-time data interaction with the cloud platform, so as to achieve real-time control of the UAV end uploading data and receiving the cloud platform during the inspection process; The drone hangar receives cloud platform instructions in real time through the wireless communication module and provides services for the drone according to the instruction requirements; The onboard battery is used to provide endurance for the drone; The onboard video capture device is used to monitor the UAV flight environment in real time and upload the video data to the cloud platform for storage and processing through the onboard wireless communication module; The onboard camera is used to take pictures during the inspection process, and upload the picture data to the cloud platform for storage and processing through the onboard wireless communication module; The positioning device is used to locate the flight position of the drone in real time, and feed the position information data back to the cloud platform for storage and processing through the wireless communication module; The cloud platform is used to store the on-site data acquired by the drone, realize the real-time planning and data processing of the communication station inspection route, and provide the terminal with real-time access function and the function of receiving terminal instructions; The data storage device is used to back up and store data acquired by the onboard video capture device, camera and positioning device, as well as the program for storing the image recognition algorithm, and upload the data to the cloud platform for storage and processing through the onboard wireless communication module; The processor is used to run the image recognition algorithm program stored in the data storage device and complete the instruction requirements of the cloud platform.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a machine, the steps of the method according to any one of claims 1 to 8 are implemented.

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