Unmanned inspection method and system for hydropower station

Abstract

The invention provides an unmanned inspection method and system for a hydropower station, belongs to the technical field of data processing, and is used for ensuring the randomness of an inspection route by screening pseudo-randomness brought by signals. The method comprises: a management plane entity receiving respective signal quality of M detection terminals fed back by a wireless access point, the M detection terminals being terminals discretely deployed in a hydropower station park, the signal quality being signal quality of wireless energy transfer for the M detection terminals by the wireless access point at a target time; the management plane entity determines K detection terminals of which the signal quality meets a preset condition from the M detection terminals; the management plane entity determines an inspection route of the unmanned aerial vehicle terminal for inspecting the hydropower station park in the inspection time period, the inspection route comprises the positions of the K detection terminals, and the inspection time period comprises a time period after the target time and with effective signal quality.

Description

Technical Field

[0001] This application relates to the technical field of data processing, and particularly to a method and system for unmanned inspection of hydropower stations. Background Art

[0002] With the progress of technology and the continuous development of the energy industry, the inspection technology of hydropower stations is also constantly innovating. The application of automated inspection technologies such as unmanned aerial vehicles (UAVs) and inspection vehicles has significantly improved the inspection efficiency and safety, while also reducing the labor cost and potential safety risks. This article will introduce in detail the background technology of the application of UAVs and inspection vehicles in the inspection of hydropower stations.

[0003] The UAV inspection technology uses UAVs equipped with various sensors to remotely monitor and collect data on the target area. In recent years, with the maturity of UAV technology and the progress of sensor technology, the application of UAVs in the inspection of hydropower stations has become more and more extensive. It has the following application advantages: High efficiency: UAVs can quickly cover large areas, improving the inspection efficiency. Safety: UAVs can perform inspection tasks in dangerous areas, reducing the risk of direct human contact. Real-time data acquisition: Equipped with high-definition cameras and sensors, it can transmit high-definition images and data in real time. Cost savings: Reducing labor costs and maintenance costs.

[0004] An inspection vehicle is a mobile platform equipped with various detection devices and sensors, which can perform inspection tasks autonomously or remotely. With the development of automation and intelligent technologies, the application of inspection vehicles in the inspection of hydropower stations is also increasing. It also has the following application advantages: Stable mobility: The inspection vehicle can move stably in complex terrains. Versatility: It can be equipped with a variety of sensors and detection devices. Long-term monitoring: Suitable for long-term continuous monitoring tasks. Data integration: It can integrate multiple data sources for comprehensive analysis.

[0005] However, for both UAVs and inspection vehicles, how to ensure the inspection effect without human intervention is the current research issue. Summary of the Invention

[0006] The embodiments of this application provide a method and system for unmanned inspection of hydropower stations, which can ensure the randomness of the inspection route by screening the pseudo-randomness brought by signals.

[0007] To achieve the above object, this application adopts the following technical solutions:

[0008] In a first aspect, a method for unmanned inspection of a hydropower station is provided, which is applied to a management plane entity for managing wireless access points. The method includes: the management plane entity receives the signal quality of each of the M detection terminals fed back by the wireless access points. The M detection terminals are terminals discretely deployed in the hydropower station park, and the signal quality is the signal quality of the wireless energy transfer for the M detection terminals by the wireless access points at the target time. M is an integer greater than 2; the management plane entity determines K detection terminals from the M detection terminals whose signal quality meets the preset conditions. K is an integer greater than 1 and less than or equal to M; the management plane entity determines the inspection route for the unmanned aerial vehicle (UAV) terminal to inspect the hydropower station park during the inspection time period. The inspection route includes the locations of the K detection terminals, and the inspection time period includes the time period after the target time and during which the signal quality is valid. Among them, the UAV terminal is configured to: during the process of inspecting along the inspection route within the inspection time period, perform energy transfer through the wireless access point.

[0009] Optionally, the UAV terminal is specifically configured to: during the inspection time period, when inspecting along the inspection route to the location of the i-th detection terminal among the K detection terminals, where i is an integer ranging from 1 to K, the UAV terminal performs wireless energy transfer for itself through the wireless access point that performs wireless energy transfer for the i-th detection terminal according to the wireless energy transfer parameters of the i-th detection terminal.

[0010] Optionally, before the UAV terminal inspects along the inspection route within the inspection time period, the method further includes: the management plane entity obtains the wireless energy transfer parameters of each of the K detection terminals from the wireless access points. Among them, the wireless energy transfer parameters of the i-th detection terminal include the resources that the i-th detection terminal needs to detect for wireless transmission; the management plane entity sends the wireless energy transfer parameters of each of the K detection terminals and the locations of each of the K detection terminals to the UAV terminal; or; before the UAV terminal inspects along the inspection route within the inspection time period, the method further includes: the management plane entity sends the identifiers of each of the K detection terminals, the information synchronization tokens of each of the K detection terminals, and the locations of each of the K detection terminals to the UAV terminal; among them, the UAV terminal is configured to: when inspecting along the inspection route to the location of the i-th detection terminal among the K detection terminals during the inspection time period, obtain the wireless energy transfer parameters of the i-th detection terminal from the i-th detection terminal according to the information synchronization token of the i-th detection terminal.

[0011] Optionally, the information synchronization token of the i-th detection terminal includes the signature of the i-th detection terminal and the joint signatures of at least two detection terminals associated with the i-th detection terminal among the K detection terminals; the i-th detection terminal is configured to: when it is verified that the information synchronization token provided by the UAV terminal contains the signature of the i-th detection terminal and the joint signatures of at least two detection terminals, provide the wireless energy transfer parameters of the i-th detection terminal to the UAV terminal.

[0012] Optionally, the joint signature of at least two detection terminals includes partial signatures of each of the at least two detection terminals; wherein, the signature of each detection terminal is a hash string, and the partial signature of each detection terminal is a partial hash string of the hash string. In the joint signature of the at least two detection terminals, the last character of the partial hash string of the first detection terminal among the at least two detection terminals is swapped with the first character of the partial hash string of the second detection terminal among the at least two detection terminals, the last character of the partial hash string of the second detection terminal is swapped with the first character of the partial hash string of the third detection terminal among the at least two detection terminals, and so on.

[0013] Optionally, the management plane entity determines K detection terminals with signal quality meeting the preset conditions from M detection terminals, including: the management plane entity determines K detection terminals with signal quality greater than the preset signal quality threshold from M detection terminals; or; the management plane entity determines K detection terminals with the top K highest signal quality from M detection terminals.

[0014] Optionally, the management plane entity determines the inspection route for the UAV terminal to inspect the hydropower station park during the inspection time period, including: the management plane entity replaces part of the preset inspection route for this inspection with the route determined according to the respective positions of the K detection terminals to obtain the inspection route for the UAV terminal to inspect the hydropower station park during the inspection time period; wherein, the preset inspection route is a route randomly selected by the management plane entity from multiple preset inspection routes; or; the management plane entity adds the route determined according to the respective positions of the K detection terminals on the basis of the preset inspection route to obtain the inspection route for the UAV terminal to inspect the hydropower station park during the inspection time period.

[0015] Optionally, the wireless access point is a device in a private network, and the private network is a mobile communication network deployed for and serving the hydropower station park.

[0016] Second aspect, a non-attended inspection system for a hydropower station is provided. The system includes a management plane entity configured to manage wireless access points. The system is configured such that: the management plane entity receives the signal quality of each of the M detection terminals fed back by the wireless access points. The M detection terminals are terminals discretely deployed in the hydropower station park. The signal quality is the signal quality of wireless energy transfer performed by the wireless access points for the M detection terminals at a target time. M is an integer greater than 2; the management plane entity determines K detection terminals from the M detection terminals whose signal quality meets a preset condition. K is an integer greater than 1 and less than or equal to M; the management plane entity determines an inspection route for the drone terminal to inspect the hydropower station park during an inspection time period. The inspection route includes the locations of the K detection terminals. The inspection time period includes a time period after the target time and during which the signal quality is valid. Wherein, the drone terminal is configured to: during the inspection along the inspection route within the inspection time period, perform energy transfer through the wireless access point.

[0017] Optionally, the drone terminal is specifically configured to: during the inspection along the inspection route within the inspection time period, when it reaches the location of the i-th detection terminal among the K detection terminals, where i is an integer ranging from 1 to K, the drone terminal performs wireless energy transfer for itself through the wireless access point that performs wireless energy transfer for the i-th detection terminal according to the wireless energy transfer parameters of the i-th detection terminal.

[0018] Optionally, before the drone terminal inspects along the inspection route within the inspection time period, the method further includes: the management plane entity obtains the wireless energy transfer parameters of each of the K detection terminals from the wireless access points. Wherein, the wireless energy transfer parameters of the i-th detection terminal include the resources that the i-th detection terminal needs to detect for wireless transmission; the management plane entity sends the wireless energy transfer parameters of each of the K detection terminals and the locations of each of the K detection terminals to the drone terminal; or; before the drone terminal inspects along the inspection route within the inspection time period, the method further includes: the management plane entity sends the identifiers of each of the K detection terminals, the information synchronization tokens of each of the K detection terminals, and the locations of each of the K detection terminals to the drone terminal. Wherein, the drone terminal is configured to: when it reaches the location of the i-th detection terminal among the K detection terminals during the inspection along the inspection route within the inspection time period, obtain the wireless energy transfer parameters of the i-th detection terminal from the i-th detection terminal according to the information synchronization token of the i-th detection terminal.

[0019] Optionally, the information synchronization token of the i-th detection terminal includes the signature of the i-th detection terminal and the joint signatures of at least two detection terminals associated with the i-th detection terminal among the K detection terminals. The i-th detection terminal is configured to: provide the wireless energy transfer parameters of the i-th detection terminal to the drone terminal when it verifies that the information synchronization token provided by the drone terminal contains the signature of the i-th detection terminal and the joint signatures of at least two detection terminals.

[0020] Optionally, the joint signature of at least two detection terminals includes partial signatures of each of the at least two detection terminals; wherein, the signature of each detection terminal is a hash string, and the partial signature of each detection terminal is a partial hash string in the hash string. In the joint signature of the at least two detection terminals, the last character of the partial hash string of the first detection terminal among the at least two detection terminals is exchanged with the first character of the partial hash string of the second detection terminal among the at least two detection terminals, and the last character of the partial hash string of the second detection terminal is exchanged with the first character of the partial hash string of the third detection terminal among the at least two detection terminals, and so on.

[0021] Optionally, the management plane entity determines K detection terminals with signal quality meeting a preset condition from M detection terminals, including: the management plane entity determines K detection terminals with signal quality greater than a preset signal quality threshold from M detection terminals; or; the management plane entity determines K detection terminals with the top K signal qualities from M detection terminals.

[0022] Optionally, the management plane entity determines the inspection route for the UAV terminal to inspect the hydropower station park during the inspection time period, including: the management plane entity replaces part of the preset inspection route of this inspection with the route determined according to the respective positions of the K detection terminals to obtain the inspection route for the UAV terminal to inspect the hydropower station park during the inspection time period; wherein, the preset inspection route is a route randomly selected by the management plane entity from multiple preset inspection routes; or; the management plane entity adds the route determined according to the respective positions of the K detection terminals on the basis of the preset inspection route to obtain the inspection route for the UAV terminal to inspect the hydropower station park during the inspection time period.

[0023] Optionally, the wireless access point is a device in a private network, and the private network is a mobile communication network deployed for and serving the hydropower station park.

[0024] In summary:

[0025] The management plane entity obtains the respective signal qualities of the M detection terminals through feedback and selects K detection terminals with signal quality meeting the preset condition, or rather, K detection terminals with relatively good signal quality. Since the channel qualities of different detection terminals during this measurement are different, the K detection terminals selected each time are also different. In this way, the management plane entity constructs the inspection route for the UAV terminal's inspection this time according to the positions of the K detection terminals, which can not only ensure the energy transfer effect on the UAV terminal through relatively good signal quality at the locations of the K detection terminals, thereby ensuring the battery life, but also ensure that the inspection route is different each time, so as to ensure the inspection quality. Description of the Drawings

[0026] Figure 1 It is a schematic architecture diagram of the unmanned inspection system for a hydropower station provided by an embodiment of the present application;

[0027] Figure 2 It is a schematic flow diagram of the unmanned inspection method for a hydropower station provided by an embodiment of the present application;

[0028] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

[0029] Figure 4 It is a schematic architecture diagram of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0030] In the embodiments of the present application, "indication" may include direct indication and indirect indication, and may also include explicit indication and implicit indication. If the information indicated by a certain piece of information (such as the first indication information, the second indication information, or the third indication information, etc. below) is called the information to be indicated, then in the specific implementation process, there are many ways to indicate the information to be indicated. For example, but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or the index of the information to be indicated, etc. It is also possible to indirectly indicate the information to be indicated by indicating other information, where there is an association relationship between the other information and the information to be indicated. It is also possible to only indicate a part of the information to be indicated, while the other parts of the information to be indicated are known or pre-agreed. For example, it is also possible to use the arrangement order of each piece of information pre-agreed (such as stipulated by a protocol) to achieve the indication of specific information, thereby reducing the indication overhead to a certain extent. At the same time, the common parts of each piece of information can be identified and indicated uniformly to reduce the indication overhead caused by separately indicating the same information.

[0031] In addition, the specific indication method can also be various existing indication methods, such as but not limited to, the above-mentioned indication methods and their various combinations, etc. The specific details of various indication methods can refer to the prior art and will not be elaborated herein. As described above, for example, when it is necessary to indicate multiple pieces of information of the same type, there may be a situation where the indication methods of different pieces of information are different. In the specific implementation process, the required indication method can be selected according to specific needs. The embodiments of the present application do not limit the selected indication method. In this way, the indication methods involved in the embodiments of the present application should be understood to cover various methods that can enable the party to be indicated to obtain the information to be indicated.

[0032] "Pre - defined" or "pre - configured" can be achieved by pre - storing corresponding codes, tables or other means that can be used to indicate relevant information in the device. The embodiments of the present application do not limit the specific implementation methods thereof. Among them, "storing" may refer to storing in one or more memories. The one or more memories may be separately provided, or may be integrated in an encoder or a decoder, a processor, or a communication device. The one or more memories may also be partially separately provided and partially integrated in a decoder, a processor, or a communication device. The type of the memory may be any form of storage medium, and the embodiments of the present application do not limit this.

[0033] The "protocol" involved in the embodiments of the present application may refer to a protocol family in the communication field, a standard protocol similar to the frame structure of a protocol family, or a relevant protocol applied to a future communication system. The embodiments of the present application do not make specific limitations on this.

[0034] In the embodiments of the present application, descriptions such as "when...", "in the case of...", "if", and "when" all mean that the device will perform corresponding processing under a certain objective situation, which does not limit time, and does not require the device to have a judgment action during implementation, nor does it mean the existence of other limitations.

[0035] In the description of the embodiments of the present application, unless otherwise specified, " / " indicates that the objects associated before and after are in an "or" relationship. For example, A / B may represent A or B; "and / or" in the embodiments of the present application is merely a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. Also, in the description of the embodiments of the present application, unless otherwise specified, "a plurality of" means two or more than two. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single item (item) or plural items (items). For example, at least one (item) of a, b, or c may represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, c can be single or multiple. Additionally, for the convenience of clearly describing the technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish identical or similar items with basically the same functions and roles. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and "first", "second", etc. do not necessarily mean different. At the same time, in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly, using words such as "exemplary" or "for example" aims to present relevant concepts in a specific way for easy understanding.

[0036] The network architecture and service scenarios described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those of ordinary skill in the art know that with the evolution of the network architecture and the emergence of new service scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0037] To facilitate the understanding of the embodiments of the present application, first, take Figure 1 the unmanned inspection of a hydropower station shown in Figure 1 as an example to detail the control system applicable to the embodiments of the present application. Exemplarily,

[0038] As Figure 1 shown, the unmanned inspection system of the hydropower station may include: a management plane entity, a wireless access point, and a terminal device.

[0039] The management plane entity may be a network element of the management plane, such as a Management and Orchestration (MANO) system.

[0040] The wireless access point may include a radio access network (RAN) device. The RAN device is also referred to as the target RAN device, and the RAN device may be a device that provides access for terminals. For example, the RAN device may include: The RAN device may also include 5G, such as the gNB in the new radio (NR) system, or one or a group (including multiple antenna panels) of antenna panels of a base station in 5G, or may also be a network node constituting the gNB, transmission and reception point (TRP) or transmission point (TP) or transmission measurement function (TMF), such as a building base band unit (BBU), or a centralized unit (CU) or a distributed unit (DU), an RSU with base station functions, or a wired access gateway, or a core network element of 5G. Alternatively, the RAN device may also include an access point (AP) in a wireless fidelity (WiFi) system, a wireless relay node, a wireless backhaul node, various forms of macro base stations, micro base stations (also referred to as small stations), relay stations, access points, wearable devices, vehicle-mounted devices, and so on. Alternatively, the RAN device may also include an access network device for the next-generation mobile communication system, such as a 6G base station, or in the next-generation mobile communication system, the network device may also have other naming methods, all of which are covered by the protection scope of the embodiments of this application, and this application does not make any limitations in this regard.

[0041] The terminal device can be a terminal with the function of communicating with a network (mobile communication network), or a chip or chip system that can be set in the terminal. This terminal device can also be referred to as a user equipment (UE), access terminal, user unit, user station, mobile station, mobile device, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device. The terminal device in the embodiments of this application can be a mobile phone, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, an in-vehicle terminal, an RSU with terminal function, etc. The terminal device in this application can also be an in-vehicle module, in-vehicle module group, in-vehicle component, in-vehicle chip, or in-vehicle unit built into a vehicle as one or more components or units. The vehicle can implement the method provided in this application through the built-in in-vehicle module, in-vehicle module group, in-vehicle component, in-vehicle chip, or in-vehicle unit. The communication between terminals can be the communication between terminals, and can also be referred to as side communication.

[0042] In the embodiments of this application, the terminal device includes a detection terminal and a wireless terminal as an example for introduction. Both the detection terminal and the wireless terminal can belong to Internet of Things (IoT) devices, such as ambient Internet of Things (A-IoT). A-IoT is based on the cellular network communication infrastructure and consists of a reader (such as a base station) and passive / semi-passive / active A-IoT terminals (A-IoT terminals are terminals in the cellular network, understood as Internet of Things terminals with extremely low power consumption and extremely low complexity).

[0043] With the development of wireless networks and the evolution of service requirements, there are a large number of A-IoT terminals in the network. These A-IoT terminals have low cost and small size, cannot carry large-capacity batteries, and face the problem of short standby life. To solve this problem, many manufacturers have proposed using the method of environmental energy harvesting to provide continuous energy for A-IoT terminals. Radio frequency energy is one of the candidate energy sources, and its advantages are that the energy size, energy source, etc. are controllable, and it has a certain penetration power and a long transmission distance.

[0044] The current radio frequency energy harvesting solutions mainly consider harvesting the wireless electromagnetic waves existing in the natural environment. Since the energy sources are not matched and synergistically optimized, the efficiency of energy harvesting is very low and cannot meet the daily usage requirements of A-IoT terminals. It is observed that there are a large number of base stations deployed in the cellular mobile communication network. These base stations are equipped with multiple antennas and can transmit arbitrarily designed electromagnetic waves and provide directive beams to enhance the radio frequency energy in certain directions, frequency bands, and time periods, which can greatly improve the low efficiency of energy transmission. Therefore, realizing wireless energy transfer (WPT) through base stations is one of the important ways to solve the short board of the battery life of A-IoT terminals in the future. WPT is also known as wireless power transfer, wireless charging, etc., and the specific expression is not limited.

[0045] It can be understood that in the embodiments of the present application, beams are uniformly used for expression, but the beams can be equivalently understood as other concepts, and are not limited to the concepts mentioned above.

[0046] It can be understood that in this system, the wireless access point is a device in the private network. The private network can be a Non-Public Network (NPN), and the private network is a mobile communication network deployed for and serving the hydropower station park. The management plane entity can manage this private network, such as configuring network elements / devices and managing services. The services can be the services of third-party enterprises, such as the positioning and route planning involved in the embodiments of the present application. It can be understood that generally, the MAMO system in the operator network usually does not manage the services of third parties. However, since the private network in the embodiments of the present application is a network deployed for third-party enterprises, such as the hydropower station park, its management services can be deeply bound to the services of third-party enterprises, and these services can be configured in the MAMO system during network configuration, so as to implement the processes that can execute the present application.

[0047] Next, in combination with Figure 2 , the interaction process between the devices in the above system will be specifically introduced through method embodiments. The method for unmanned inspection of hydropower stations provided by the embodiments of the present application can be applied to the above system, and will be specifically introduced below.

[0048] Figure 2 It is a schematic flowchart of the method for unmanned inspection of hydropower stations provided by the embodiments of the present application. The process of the method for unmanned inspection of hydropower stations is as follows:

[0049] S201, the management plane entity receives the signal quality of each of the M detection terminals fed back by the wireless access point.

[0050] The management plane entity is used to manage wireless access points, which can be one or more and are deployed at different locations within the hydropower station park. The service cells thereof can cover the hydropower station park.

[0051] M is an integer greater than 2.

[0052] The M detection terminals are terminals discretely deployed within the hydropower station park. For example, in each functional area within the hydropower station park, such as the area where each unit is located, the control center, and the power transmission and transformation area, detection terminals are deployed. Each detection terminal is used to monitor the situation in its area. For example, the detection terminal can be a camera for collecting the surveillance video in its area and transmitting it to the server in the control center through the user plane via the wireless access point it is connected to. Another example is that the detection terminal can be a sensor for collecting the working status of the equipment, such as current, voltage, load, temperature, etc. Each detection terminal is an environmental Internet of Things device and can be wirelessly powered by the wireless access point it is connected to.

[0053] The signal quality of each of the M detection terminals is the signal quality for wireless power transfer of the M detection terminals by the wireless access point at the target time. Among them, each wireless access point can wirelessly power the detection terminals it is connected to, and the timing of wireless power transfer by each wireless access point can be aligned. For example, the time for each wireless access point to perform wireless power transfer is periodic, and these periods can be synchronized. For example, within each period, each wireless access point first performs a frequency domain scan, that is, sends the same beam for wireless power transfer at different frequency points to determine at which frequency point the signal quality of this beam is the best through the signal quality of the beam returned by the detection terminal, that is, determine the optimal frequency point. Then, each wireless access point performs a spatial domain scan, that is, sends multiple beams in sequence at the optimal frequency point to determine the beam with the best signal quality through the signal quality of each of the multiple beams returned by the detection terminal, that is, determine the optimal beam (i.e., the beam pointing to the location of the detection terminal). Then, the wireless access point can send the optimal beam at the optimal frequency point to wirelessly power the detection terminal until the end of this period to obtain a relatively good power transfer efficiency. This period of wireless power transfer is also called the charging time period within this period. The above process can be repeated in the next period, or the spatial domain scan may not be performed in the next period, only the frequency domain scan is performed, the optimal beam of the previous period is used, and the above process of the period is repeated after multiple periods, that is, the frequency domain scan and the spatial domain scan are performed.

[0054] The target time in the embodiments of this application is the time of the signal quality of each of the multiple beams returned by the terminal within any period. Or, in the case where only frequency-domain scanning is performed in a certain period, the target time can also be the time when the terminal feeds back the beam quality at each frequency point in this period. The management plane entity can receive the signal quality of each of the M detected terminals fed back by the wireless access point at the next time of the target time, such as the next time slot / subframe / frame / wireless frame. This feedback method can be pre-configured, that is, the wireless access point will default to report these signal qualities to the management plane entity at the next time after receiving the signal quality of each of the M detected terminals.

[0055] S202. The management plane entity determines K detected terminals whose signal quality meets the preset conditions from the M detected terminals.

[0056] K is an integer greater than 1 and less than or equal to M. For example, the management plane entity can determine K detected terminals whose signal quality is greater than the preset signal quality threshold from the M detected terminals; or; the management plane entity can also determine the K detected terminals with the top K signal qualities from the M detected terminals.

[0057] It can be understood that since the signal quality in the frequency domain is random, the signal quality fed back by the detected terminal for frequency-domain scanning may be different in each period. Therefore, for the target time of different periods, the K detected terminals whose signal quality meets the preset conditions may also be different, so as to ensure the randomness of the subsequent determined inspection route.

[0058] S203. The management plane entity determines the inspection route for the UAV terminal to inspect the hydropower station park during the inspection time period.

[0059] Among them, the inspection route includes the locations of the K detected terminals. The management plane entity can pre-configure parameters such as the locations of each of the M detected terminals and the identifiers of each of the M detected terminals.

[0060] The inspection time period includes the time period after the target time and during which the signal quality is valid, that is, the energy charging time period within the above-mentioned one period. Thus, the UAV terminal can be configured to: during the process of inspecting along the inspection route within the inspection time period, perform energy transfer through the wireless access point. It can be understood that the speed of the UAV terminal is relatively fast and the inspection time is relatively short, such as 10 - 15 minutes, but the energy charging time (that is, the energy charging time period) is usually relatively long, such as about 30 minutes. Therefore, the inspection time period can be included in the energy charging time period to enable the UAV terminal to perform energy transfer through the wireless access point.

[0061] Among them, the drone terminal is specifically configured to: during the inspection time period, patrol along the inspection route to the location of the i-th detection terminal among the K detection terminals, where i is an integer ranging from 1 to K. The drone terminal performs wireless power transmission for itself through the wireless access point that wirelessly powers the i-th detection terminal according to the wireless power transmission parameters of the i-th detection terminal.

[0062] For example, before the drone terminal patrols along the inspection route during the inspection time period, the method further includes: the management plane entity obtains the wireless power transmission parameters of each of the K detection terminals from the wireless access point. Among them, the wireless power transmission parameters of the i-th detection terminal include the resources that the i-th detection terminal needs to detect for wireless transmission, specifically, it can be the optimal frequency point for the i-th detection terminal to perform wireless power transmission. The management plane entity sends the wireless power transmission parameters of each of the K detection terminals and the locations of each of the K detection terminals to the drone terminal.

[0063] Or; before the drone terminal patrols along the inspection route during the inspection time period, the method further includes: the management plane entity sends the identifiers of each of the K detection terminals, the information synchronization tokens of each of the K detection terminals, and the locations of each of the K detection terminals to the drone terminal, so that the drone terminal uses the information synchronization tokens of each of the K detection terminals to obtain the wireless power transmission parameters of each of the K detection terminals from the K detection terminals by itself. That is to say, the drone terminal is configured to: during the inspection time period, patrol along the inspection route to the location of the i-th detection terminal among the K detection terminals (specifically, it can search for the i-th detection terminal and establish a communication connection with the i-th detection terminal, such as a PC5 connection), so as to obtain the wireless power transmission parameters of the i-th detection terminal from the i-th detection terminal according to the information synchronization token of the i-th detection terminal.

[0064] Specifically, the information synchronization token of the i-th detection terminal can include the signature of the i-th detection terminal and the joint signatures of at least two detection terminals associated with the i-th detection terminal among the K detection terminals. The at least two detection terminals associated with the i-th detection terminal (such as 2 / 3 detection terminals) can be the detection terminals with the first 2 / 3 shortest distances from the i-th detection terminal, or can be determined by random grouping. For example, randomly group M detection terminals into multiple groups, and the detection terminals within each group are all associated detection terminals. For example, group 1 includes terminal 1, terminal 2, terminal 3, and terminal 4. The detection terminals associated with terminal 1 are terminal 2, terminal 3, and terminal 4, and the same applies to terminal 2, terminal 3, and terminal 4. The i-th detection terminal is configured to: in the case of verifying that the information synchronization token provided by the drone terminal contains the signature of the i-th detection terminal and the joint signatures of at least two detection terminals, provide the wireless power transmission parameters of the i-th detection terminal to the drone terminal, such as by completing through the established PC5 connection.

[0065] More specifically, the joint signature of at least two detection terminals can include partial signatures of each of the at least two detection terminals. For example, the signature of each detection terminal is a hash string, and the partial signature of each detection terminal is a partial hash string in the hash string. In the joint signature of at least two detection terminals, the last character of the partial hash string of the first detection terminal among the at least two detection terminals is exchanged with the first character of the partial hash string of the second detection terminal among the at least two detection terminals, and the last character of the partial hash string of the second detection terminal is exchanged with the first character of the partial hash string of the third detection terminal among the at least two detection terminals, and so on.

[0066] For ease of understanding, in one example, continuing with the above Group 1 as an example, the joint signature of Terminals 2 to 4 can be specifically as follows: The partial signature of Terminal 2 includes SFAHGSF124, the partial signature of Terminal 3 includes DGFX214EE1, and the partial signature of Terminal 4 includes ASA1674GGF. The joint signature can be: SFAHGSF12D4GFX214EEA1SA1674GGF. The advantage of this is that it can improve information security. Or it can also be the exchange of positions of 2 or more characters, such as SFAHGSF1DG24FX214EASE1A1674GGF.

[0067] Since the i-th detection terminal pre-configures its own signature and the partial signatures of each of the at least two detection terminals, the i-th detection terminal performs the reverse process of the above rule to verify whether the signatures provided by the UAV terminal are all consistent with the locally pre-configured ones. If they are consistent, the verification passes, and the wireless power transfer parameters of the i-th detection terminal are provided. Otherwise, the verification fails, and the wireless power transfer parameters of the i-th detection terminal are not provided.

[0068] In the embodiment of the present application, the management plane entity replaces part of the preset inspection route in this inspection with the route determined according to the respective positions of the K detection terminals, to obtain the inspection route for the UAV terminal to inspect the hydropower station park during the inspection time period; where the preset inspection route is the route randomly selected by the management plane entity from multiple preset inspection routes. For example, the management plane entity can generate a route connecting the K detection terminals according to the map of the hydropower station park, that is, the route determined according to the respective positions of the K detection terminals. The management plane entity can determine whether there are at least two positions on the route connecting the K detection terminals that are located on the preset inspection route. If so, it replaces the part of the preset inspection route connected to these at least two positions with the route connecting the K detection terminals to obtain the final inspection route, specifically as shown in Figure 3 (a) as shown in.

[0069] Alternatively; based on the preset inspection route, the management plane entity adds a route determined according to the respective positions of the K detection terminals to obtain the inspection route for the UAV terminal to inspect the hydropower station park during the inspection time period. For example, the management plane entity can also generate a route connecting the K detection terminals according to the map of the hydropower station park, that is, a route determined according to the respective positions of the K detection terminals. The management plane entity can determine whether at least two positions in the route connecting the K detection terminals are located on the preset inspection route. If not, for example, if only at least one position is located on the preset inspection route, the management plane entity adds the route connecting the K detection terminals to the preset inspection route to obtain the final inspection route; or, if no position is located on the preset inspection route, the management plane entity generates a route connected to one end of the route connecting the K detection terminals on the preset inspection route according to the map of the hydropower station park to obtain the final inspection route, specifically as Figure 3 Among them, in the embodiments of the present application, the algorithm for generating the route can be the prior art and is not specifically limited.

[0070] Finally, the management plane entity can send the final inspection route and the inspection time period to the UAV terminal through the wireless access point accessed by the UAV terminal, so that the UAV terminal can execute the current inspection along the final inspection route at the start of the inspection time period.

[0071] In summary, the management plane entity obtains the respective signal qualities of the M detection terminals through feedback and selects K detection terminals whose signal qualities meet the preset conditions, or rather, K detection terminals with relatively good signal qualities. Since the channel qualities of different detection terminals are relatively good during this measurement, the K detection terminals selected each time are also different. In this way, the management plane entity constructs the inspection route for the UAV terminal this time according to the positions of the K detection terminals, which can not only ensure the energy transfer effect on the UAV terminal through relatively good signal quality at the locations of the K detection terminals, thereby ensuring the battery life, but also ensure that the inspection route is different each time, so the inspection quality can be guaranteed.

[0072] The above combination Figure 2The method for unmanned inspection of a hydropower station provided by the embodiments of the present application is described in detail. The following describes a hydropower station unmanned inspection system for implementing the method for unmanned inspection of a hydropower station provided by the embodiments of the present application. The system includes a management plane entity, and the management plane entity is used to manage wireless access points. The system is configured as follows: The management plane entity receives the signal quality of each of the M detection terminals fed back by the wireless access points. The M detection terminals are terminals discretely deployed in the hydropower station park. The signal quality is the signal quality of wireless power transfer for the M detection terminals by the wireless access points at the target time. M is an integer greater than 2; The management plane entity determines K detection terminals from the M detection terminals whose signal quality meets the preset conditions. K is an integer greater than 1 and less than or equal to M; The management plane entity determines the inspection route for the unmanned aerial vehicle (UAV) terminal to inspect the hydropower station park during the inspection time period. The inspection route includes the locations of the K detection terminals. The inspection time period includes the time period after the target time and during which the signal quality is valid. Wherein, the UAV terminal is configured as follows: During the process of inspecting along the inspection route within the inspection time period, it performs wireless power transfer through the wireless access points.

[0073] Optionally, the UAV terminal is specifically configured as follows: During the inspection time period, when it inspects along the inspection route to the location of the i-th detection terminal among the K detection terminals, where i is an integer ranging from 1 to K, the UAV terminal performs wireless power transfer for itself through the wireless access point that performs wireless power transfer for the i-th detection terminal according to the wireless power transfer parameters of the i-th detection terminal.

[0074] Optionally, before the UAV terminal inspects along the inspection route within the inspection time period, the method further includes: The management plane entity obtains the wireless power transfer parameters of each of the K detection terminals from the wireless access points. Wherein, the wireless power transfer parameters of the i-th detection terminal include the resources that the i-th detection terminal needs to detect for wireless transmission; The management plane entity sends the wireless power transfer parameters of each of the K detection terminals and the locations of each of the K detection terminals to the UAV terminal; Or; Before the UAV terminal inspects along the inspection route within the inspection time period, the method further includes: The management plane entity sends the identifiers of each of the K detection terminals, the information synchronization tokens of each of the K detection terminals, and the locations of each of the K detection terminals to the UAV terminal; Wherein, the UAV terminal is configured as follows: During the inspection time period, when it inspects along the inspection route to the location of the i-th detection terminal among the K detection terminals, it obtains the wireless power transfer parameters of the i-th detection terminal from the i-th detection terminal according to the information synchronization token of the i-th detection terminal.

[0075] Optionally, the information synchronization token of the i-th detection terminal includes the signature of the i-th detection terminal and the joint signature of at least two detection terminals associated with the i-th detection terminal among the K detection terminals; the i-th detection terminal is configured to: when it is verified that the information synchronization token provided by the drone terminal includes the signature of the i-th detection terminal and the joint signature of at least two detection terminals, provide the wireless power transfer parameters of the i-th detection terminal to the drone terminal.

[0076] Optionally, the joint signature of at least two detection terminals includes partial signatures of each of the at least two detection terminals; wherein, the signature of each detection terminal is a hash string, and the partial signature of each detection terminal is a partial hash string in the hash string. In the joint signature of at least two detection terminals, the last character of the partial hash string of the first detection terminal among the at least two detection terminals is exchanged with the first character of the partial hash string of the second detection terminal among the at least two detection terminals, and the last character of the partial hash string of the second detection terminal is exchanged with the first character of the partial hash string of the third detection terminal among the at least two detection terminals, and so on.

[0077] Optionally, the management plane entity determines K detection terminals with signal quality meeting a preset condition from M detection terminals, including: the management plane entity determines K detection terminals with signal quality greater than a preset signal quality threshold from M detection terminals; or; the management plane entity determines K detection terminals with the top K highest signal qualities from M detection terminals.

[0078] Optionally, the management plane entity determines the inspection route for the drone terminal to inspect the hydropower station park during the inspection time period, including: the management plane entity replaces a part of the preset inspection route for this inspection with the route determined according to the respective positions of the K detection terminals to obtain the inspection route for the drone terminal to inspect the hydropower station park during the inspection time period; wherein, the preset inspection route is a route randomly selected by the management plane entity from multiple preset inspection routes; or; the management plane entity adds the route determined according to the respective positions of the K detection terminals on the basis of the preset inspection route to obtain the inspection route for the drone terminal to inspect the hydropower station park during the inspection time period.

[0079] Optionally, the wireless access point is a device in a private network, and the private network is a mobile communication network deployed for and serving the hydropower station park.

[0080] Figure 4 The structural schematic diagram of the electronic device provided by the embodiment of the present application. Exemplarily, the electronic device can be a terminal, or a chip (system) or other components or assemblies that can be set in the terminal. As Figure 4As shown, the electronic device 400 may include a processor 401. Optionally, the electronic device 400 may further include a memory 402 and / or a transceiver 403. Among them, the processor 401 is coupled to the memory 402 and the transceiver 403, such as being connected through a communication bus.

[0081] The following will specifically introduce each component of the electronic device 400 in conjunction with Figure 4 :

[0082] Among them, the processor 401 is the control center of the electronic device 400, which can be a single processor or a collective term for multiple processing elements. For example, the processor 401 is one or more central processing units (CPUs), or can be an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, such as: one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0083] Optionally, the processor 401 can execute various functions of the electronic device 400 by running or executing software programs stored in the memory 402 and calling data stored in the memory 402, such as executing the Figure 2 shown method for unmanned inspection of hydropower stations.

[0084] In a specific implementation, as an embodiment, the processor 401 may include one or more CPUs, such as Figure 4 the CPU0 and CPU1 shown in

[0085] In a specific implementation, as an embodiment, the electronic device 400 may also include multiple processors. Each of these processors can be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Here, the processor may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0086] Among them, the memory 402 is used to store software programs for implementing the solutions of the present application and is controlled by the processor 401 for execution. The specific implementation manner can refer to the above method embodiments and will not be elaborated here.

[0087] Optionally, the memory 402 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or any other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 402 may be integrated with the processor 401 or may exist independently and be coupled to the processor 401 through the interface circuit of the electronic device 400 ( Figure 4 not shown in the figure), and the embodiments of the present application do not make specific limitations thereto.

[0088] The transceiver 403 is used for communication with other electronic devices. For example, when the electronic device 400 is a terminal, the transceiver 403 may be used for communication with a network device or with another terminal device. For another example, when the electronic device 400 is a network device, the transceiver 403 may be used for communication with a terminal or with another network device.

[0089] Optionally, the transceiver 403 may include a receiver and a transmitter ( Figure 4 not shown separately). Among them, the receiver is used to implement the receiving function, and the transmitter is used to implement the sending function.

[0090] Optionally, the transceiver 403 may be integrated with the processor 401 or may exist independently and be coupled to the processor 401 through the interface circuit of the electronic device 400 ( Figure 4 not shown in the figure), and the embodiments of the present application do not make specific limitations thereto.

[0091] It can be understood that Figure 4 the structure of the electronic device 400 shown in the figure does not constitute a limitation on the electronic device. The actual electronic device may include more or fewer components than shown in the figure, or combine some components, or have a different component layout.

[0092] In addition, the technical effects of the electronic device 400 may refer to the technical effects of the method described in the above method embodiments, and will not be elaborated here.

[0093] It should be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0094] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0095] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware, or any combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wired (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more collections of available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, or magnetic tape), an optical medium (such as a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0096] It should be understood that the term "and / or" in this document is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship, which can be specifically understood by referring to the context.

[0097] In this application, "at least one" means one or more, and "a plurality" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0098] It should be understood that in various embodiments of the present application, the magnitudes of the sequence numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0099] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0100] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0101] In several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0102] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0103] In addition, the functional units in each embodiment of this application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0104] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0105] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application can easily think of changes or substitutions, which should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A method for unmanned inspection of a hydropower station, characterized in that: Applied to a management plane entity, the management plane entity is used to manage a wireless access point, the method comprising: The management plane entity receives the signal quality of each of the M detection terminals fed back by the wireless access point, where the M detection terminals are discretely deployed in the hydropower station park, and the signal quality is the signal quality of the wireless access point performing wireless energy transmission for the M detection terminals at the target time, where M is an integer greater than 2; The management plane entity determines K detection terminals whose signal quality meets a preset condition from the M detection terminals, where K is an integer greater than 1 and less than or equal to M; The management plane entity determines an inspection route used by the drone terminal to inspect the hydropower station park within an inspection time period, the inspection route includes the locations of the K detection terminals, and the inspection time period includes a time period after the target time and when the signal quality is valid, wherein the drone terminal is configured to transmit energy through the wireless access point during the inspection along the inspection route within the inspection time period.

2. The method according to claim 1, characterized in that The drone terminal is specifically configured to: patrol along the patrol route to the location of the i-th detection terminal among the K detection terminals within the patrol time period, where i is an integer ranging from 1 to K, and the drone terminal performs wireless energy transmission for the drone terminal through the wireless access point that wirelessly transmits energy to the i-th detection terminal based on the wireless energy transmission parameters of the i-th detection terminal.

3. The method according to claim 2, characterized in that Before the drone terminal performs inspection along the inspection route within the inspection time period, the method further includes: The management plane entity obtains the wireless energy transmission parameters of each of the K detection terminals from the wireless access point, wherein the wireless energy transmission parameters of the i-th detection terminal include resources that the i-th detection terminal needs to detect for wireless transmission; The management plane entity sends the wireless energy transmission parameters of the K detection terminals and the positions of the K detection terminals to the UAV terminal; or; Before the drone terminal performs inspection along the inspection route within the inspection time period, the method further includes: The management plane entity sends the respective identifiers of the K detection terminals, the respective information synchronization tokens of the K detection terminals, and the respective locations of the K detection terminals to the UAV terminal; Among them, the drone terminal is configured to: patrol along the patrol route to the location of the i-th detection terminal among the K detection terminals within the patrol time period, and obtain the wireless energy transmission parameters of the i-th detection terminal from the i-th detection terminal according to the information synchronization token of the i-th detection terminal.

4. The method according to claim 3, characterized in that The information synchronization token of the i-th detection terminal includes the signature of the i-th detection terminal and the joint signatures of at least two detection terminals among the K detection terminals that are associated with the i-th detection terminal; the i-th detection terminal is configured to: upon verifying that the information synchronization token provided by the drone terminal contains the signature of the i-th detection terminal and the joint signatures of the at least two detection terminals, provide the wireless energy transmission parameters of the i-th detection terminal to the drone terminal.

5. The method according to claim 4, characterized in that The joint signature of the at least two detection terminals includes a partial signature of each detection terminal of the at least two detection terminals; Among them, the signature of each detection terminal is a hash string, the partial signature of each detection terminal is a partial hash string in the hash string, and in the joint signature of the at least two detection terminals, the last character of the partial hash string of the first detection terminal among the at least two detection terminals is exchanged with the first character of the partial hash string of the second detection terminal among the at least two detection terminals, the last character of the partial hash string of the second detection terminal is exchanged with the first character of the partial hash string of the third detection terminal among the at least two detection terminals, and so on.

6. The method according to any one of claims 1 to 5, characterized in that The management plane entity determines, from the M detection terminals, K detection terminals whose signal quality meets a preset condition, including: The management plane entity determines the K detection terminals whose signal quality is greater than a preset signal quality threshold from the M detection terminals; or; The management plane entity determines the K detection terminals with the highest signal qualities from the M detection terminals.

7. The method according to any one of claims 1 to 5, characterized in that The management plane entity determines an inspection route for the drone terminal to inspect the hydropower station park within an inspection time period, including: The management plane entity replaces part of the preset inspection route of this inspection with the route determined according to the respective positions of the K detection terminals, and obtains the inspection route used by the drone terminal to inspect the hydropower station park during the inspection time period; wherein the preset inspection route is a route randomly selected by the management plane entity from the preset multiple inspection routes; or; On the basis of the preset inspection route, the management plane entity adds the route determined according to the respective positions of the K detection terminals to obtain the inspection route used by the drone terminal to inspect the hydropower station park during the inspection time period.

8. The method according to any one of claims 1 to 5, characterized in that The wireless access point is a device in a private network, and the private network is a mobile communication network deployed for the hydropower station park and used to serve the hydropower station park.

9. An unmanned inspection system for a hydropower station, characterized in that: The system comprises a management plane entity, wherein the management plane entity is used to manage a wireless access point, and the system is configured to: The management plane entity receives the signal quality of each of the M detection terminals fed back by the wireless access point, where the M detection terminals are discretely deployed in the hydropower station park, and the signal quality is the signal quality of the wireless access point performing wireless energy transmission for the M detection terminals at the target time, where M is an integer greater than 2; The management plane entity determines K detection terminals whose signal quality meets a preset condition from the M detection terminals, where K is an integer greater than 1 and less than or equal to M; The management plane entity determines an inspection route used by the drone terminal to inspect the hydropower station park within an inspection time period, the inspection route includes the locations of the K detection terminals, and the inspection time period includes a time period after the target time and when the signal quality is valid, wherein the drone terminal is configured to transmit energy through the wireless access point during the inspection along the inspection route within the inspection time period.

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