Unmanned aerial vehicle targeted inspection method and system, storage medium and electronic equipment

Abstract

The invention provides an unmanned aerial vehicle targeted inspection method and system, a storage medium and electronic equipment, and relates to the technical field of unmanned aerial vehicle inspection, and the method comprises the steps: receiving fault information, determining a fault region and a fault type according to the fault information, and determining initial inspection time, an inspection starting point and emergency response time according to the fault region and the fault type; determining a response area according to the emergency response time and the inspection starting point, and obtaining unmanned aerial vehicle position information and unmanned aerial vehicle parameter information of all unmanned aerial vehicles in the response area to screen all unmanned aerial vehicles in the response area to determine a plurality of unmanned aerial vehicles to be responded; screening the to-be-responded unmanned aerial vehicle to determine a target unmanned aerial vehicle; and according to the position information, the fault area and the fault type of the target unmanned aerial vehicle, determining a preliminary inspection path. The problems of poor emergency inspection capability and low inspection efficiency of unmanned aerial vehicle power inspection due to fixed path of unmanned aerial vehicle power inspection in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of drone inspection, and particularly to a drone targeted inspection method, system, storage medium and electronic device. Background Art

[0002] With the continuous expansion of the power grid, the inspection of large-span transmission lines has become a key link to ensure the safe and stable operation of the power grid. With the application breakthrough of drone technology in power inspection, in order to ensure the reliability of these transmission lines, unmanned power inspection is adopted, thus solving the problems existing in manual inspection of the distribution network, such as long inspection cycle, large blind area range, high work difficulty, etc.

[0003] The advantages of drone inspection are that it improves efficiency, reduces manual operation in dangerous areas, reduces safety risks, saves human and material costs, and reduces equipment downtime. In the future, with the continuous progress of technology, drone inspection will gradually integrate more advanced artificial intelligence and big data analysis capabilities to improve the accuracy and real-time performance of fault detection, and it is expected to be more widely used in various industries. Generally speaking, drone inspection is an efficient, safe and economical monitoring means, which provides a strong guarantee for the safe operation of various industries.

[0004] However, the traditional drone inspection path is often a preset fixed route, lacking flexibility, and using the same detection frequency for all areas. However, with the expansion and popularization of the distribution network scale, due to factors such as the complex and changeable environment of the distribution network line, the continuous improvement of multi-scene inspection requirements, high failure rate, and long mileage, the previous single and fixed inspection mode cannot split and target-reorganize the flight path according to the changing environment and inspection requirements, so it lacks inspection flexibility. When a fault occurs, the emergency inspection ability is poor, reducing the inspection efficiency. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a drone targeted inspection method, aiming to solve the problems that the fixed path of drone power inspection in the prior art results in poor emergency inspection ability and low inspection efficiency of drone power inspection.

[0006] According to a drone targeted inspection method of an embodiment of the present invention, the method includes: Receiving fault information, determining the fault area and fault type according to the fault information, and determining the preliminary inspection time, inspection starting point and emergency response time according to the fault area and the fault type, where the emergency response time is the maximum allowable time required for the drone to reach the inspection starting point; Determining the response area according to the emergency response time and the inspection starting point, and obtaining the drone position information and drone parameter information of all drones within the response area; Screen all the drones within the response area according to the preliminary inspection time, the drone position information, the inspection starting point, the drone parameter information, and the emergency response time to determine multiple drones to be responded to; Screen the drones to be responded to according to the drone position, the inspection starting point, and the drone parameters, and determine the drone to be responded to with the shortest emergency response time as the target drone; Determine a preliminary inspection path according to the position information of the target drone, the fault area, and the fault type, so that the target drone performs an emergency inspection according to the preliminary inspection path.

[0007] In addition, according to a drone targeted inspection method of the above embodiment of the present invention, the following additional technical features may also be included: Further, the step of screening all the drones within the response area according to the preliminary inspection time, the drone position information, the inspection starting point, the drone parameter information, and the emergency response time to determine multiple drones to be responded to includes: Determine the relative distance according to the drone position information and the corresponding inspection starting point, and determine the time required for all drones to reach the corresponding inspection starting point from the current position as the required response time according to the relative distance and the drone parameter information; Screen the drones according to the required response time and the emergency response time, and determine the corresponding drones whose required response time is not greater than the emergency response time as the preliminary screened drones; Determine the current on-board energy and the inspection energy required to complete the preliminary inspection according to the drone parameter information, the preliminary inspection time, and the required response time, and subtract the inspection energy from the current on-board energy to determine the remaining energy; Determine the corresponding energy warning threshold according to the drone parameter information, and screen the preliminary screened drones according to the energy warning threshold and the remaining energy, and determine the preliminary screened drones with the remaining energy greater than the energy warning threshold as the drones to be responded to.

[0008] Further, after the step of determining a preliminary inspection path according to the position information of the target drone, the fault area, and the fault type, so that the target drone performs an emergency inspection according to the preliminary inspection path includes: Determine the emergency inspection time according to the fault type and the fault area, and the emergency inspection time is the maximum allowable time required to complete a comprehensive inspection of the fault area; Obtain the first nest information within the preset range of the fault area and the information of the standby drones in the first nest, and divide the fault area according to the first nest information, the standby drone information, and the emergency inspection time to determine multiple fault units; Generate a corresponding comprehensive inspection path according to the first nest information, the standby drone information, and the fault unit, so that the standby drones perform a comprehensive inspection of the fault unit according to the comprehensive inspection path.

[0009] Further, the step of dividing the fault area according to the first nest information, the standby drone information, and the emergency inspection time to determine multiple fault units includes: Determine the distance information between the first nest and the fault area according to the first nest information and the fault area; Determine the first inspection area of each first nest for comprehensively inspecting the fault area within the emergency inspection time according to the standby drone information, the distance information, and the drone quantity information; Integrate all the first inspection areas and determine whether the integrated first inspection area covers the fault area; If so, adjust each first inspection area according to the preset unit division method so that the adjusted first inspection area is the fault unit; If not, determine that the multiple uncovered areas between the integrated first inspection area and the fault area are missing areas; Respectively determine the geometric center points corresponding to each missing area, and obtain the second nest information and the information of the standby drones in the second nests that are the closest to each geometric center point; Determine the second inspection area of each second nest for comprehensively inspecting the missing area within the emergency inspection time according to the second nest information, the standby drones in the second nest, and the missing area; Adjust each first inspection area and the second inspection area according to the preset unit division method so that the adjusted first inspection area and the second inspection area are the fault units.

[0010] Further, the step of adjusting each first inspection area according to the preset unit division method includes: Determine that multiple first inspection areas with intersections are the inspection areas to be adjusted; Adjust the number of standby drones that perform comprehensive inspections in the first drone nest corresponding to the inspection area to be adjusted in sequence, and then adjust the inspection area to be adjusted to determine the target inspection area, so that all the integrated target inspection areas can cover all the adjusted inspection areas, and the sum of squares of the ratios of the remaining standby drones in each first drone nest to the total number of resident drones in the first drone nest is minimized.

[0011] Further, after the step of determining the preliminary inspection path according to the position information of the target drone, the fault area and the fault type, so that the target drone performs emergency inspections according to the preliminary inspection path, the following steps are included: Obtain the real-time inspection data of the target drone, and judge the degree of the fault condition in the real-time inspection area according to the real-time inspection data; When the degree of the fault condition in the real-time inspection area is greater than the preset threshold, adjust the preliminary inspection path of the target drone so that the target drone conducts a comprehensive inspection of the real-time inspection area; According to the area where the preliminary inspection has been completed, determine the new fault area, the fault type, the preliminary inspection time, the inspection starting point and the emergency response time to determine the new target drone and the preliminary inspection path.

[0012] Further, after the step of determining the preliminary inspection path according to the position information of the target drone, the fault area and the fault type, so that the target drone performs emergency inspections according to the preliminary inspection path, the following steps are included: Judge whether the target drone is a drone that is currently inspecting; If so, obtain the uncompleted inspection path of the target drone and determine the take-off drone nest of the target drone; Determine a supplementary inspection path according to the position information of the take-off drone nest and the uncompleted inspection path, so that the standby drones in the take-off drone nest perform supplementary inspection tasks according to the supplementary inspection path.

[0013] Another object of the embodiments of the present invention is to provide a drone targeted inspection system, the system includes: An inspection information determination module, configured to receive fault information, determine a fault area and a fault type according to the fault information, and determine a preliminary inspection time, an inspection starting point and an emergency response time according to the fault area and the fault type, where the emergency response time is the maximum allowable time required for the drone to reach the inspection starting point; The UAV information determination module is used to determine the response area according to the emergency response time and the inspection starting point, and obtain the UAV position information and UAV parameter information of all UAVs within the response area; The to-be-responded UAV screening module is used to screen all UAVs within the response area according to the preliminary inspection time, the UAV position information, the inspection starting point, the UAV parameter information and the emergency response time to determine multiple to-be-responded UAVs; The target UAV determination module is used to screen the to-be-responded UAVs according to the UAV position, the inspection starting point and the UAV parameters to determine the to-be-responded UAV with the shortest emergency response time as the target UAV; The preliminary inspection path determination module is used to determine the preliminary inspection path according to the position information of the target UAV, the fault area and the fault type, so that the target UAV performs emergency inspection according to the preliminary inspection path.

[0014] Another object of the embodiments of the present invention is to provide a storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above-mentioned UAV target inspection method are implemented.

[0015] Another object of the embodiments of the present invention is to provide an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the steps of the above-mentioned UAV target inspection method are implemented.

[0016] In the present invention, by obtaining the fault information in real time, and then screening each UAV according to the fault information to determine the corresponding target UAV, so that the target UAV automatically adjusts and generates the corresponding preliminary inspection path according to the fault information to perform preliminary inspection on the fault area, thereby avoiding the need to dispatch the UAVs in the hangar for emergency inspection, greatly improving the emergency inspection ability and inspection efficiency. In addition, when performing emergency inspection, the target UAV with the fastest emergency efficiency is determined according to the information of each UAV and the hangar, and the UAV and the comprehensive inspection path for comprehensively inspecting the fault area are determined, so as to timely perform comprehensive inspection and fault removal on the fault area, with higher inspection efficiency and stronger emergency ability. Therefore, the present invention solves the problems in the prior art that the path of UAV power inspection is fixed, resulting in poor emergency inspection ability and low inspection efficiency of UAV power inspection. Description of the Drawings

[0017] Figure 1 It is a flowchart of the UAV target inspection method in the first embodiment of the present invention; Figure 2 It is a structural block diagram of the UAV target inspection system in the second embodiment of the present invention; Figure 3 A schematic structural diagram of the electronic device in the third embodiment of the present invention; The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. Specific Embodiments

[0018] For ease of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided so that the disclosure of the present invention is thorough and comprehensive.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0020] Embodiment 1 Please refer to Figure 1 , which shows the method for targeted inspection of an unmanned aerial vehicle in the first embodiment of the present invention. The method specifically includes steps S01 - S05.

[0021] S01. Receive fault information, determine the fault area and fault type according to the fault information, and determine the preliminary inspection time, inspection starting point, and emergency response time according to the fault area and the fault type. The emergency response time is the maximum allowable time required for the unmanned aerial vehicle to reach the inspection starting point.

[0022] Specifically, the fault area and fault type corresponding to the fault information are determined through the power grid monitoring system, and then the time required for preliminary inspection of the fault area and fault type, the appropriate inspection starting point for the fault area, and the emergency response time are determined through a pre-trained model. So that an unmanned aerial vehicle that meets the requirements can be dispatched to inspect the fault area within the emergency response time to ensure the timeliness of emergency inspection, thereby avoiding the long duration of the impact of the fault and avoiding the further expansion or extension of the fault. It should be noted that the corresponding fault type and fault area can be determined according to the fault information through historical data and big data, and then the historical inspection data can be applied according to the fault area and fault type to determine a more appropriate inspection starting point. In addition, all these data can be used for model training to obtain a pre-trained model, so that the model can directly determine the corresponding preliminary inspection time, inspection starting point, and emergency response time through the fault information.

[0023] S02. Determine the response area based on the emergency response time and the inspection starting point, and obtain the drone position information and drone parameter information of all drones within the response area.

[0024] Specifically, determine the response area according to the model of the equipped drones, the inspection starting point, and the emergency response time, so as to ensure that the drones within the response area can move to the corresponding inspection starting point within the response time under normal conditions.

[0025] S03. Screen all drones within the response area according to the preliminary inspection time, the drone position information, the inspection starting point, the drone parameter information, and the emergency response time to determine multiple drones to be responded to.

[0026] Specifically, determine the relative distance according to the drone position information and the corresponding inspection starting point, and determine the time required for all drones to move from the current position to the corresponding inspection starting point as the required response time according to the relative distance and the drone parameter information; screen the drones according to the required response time and the emergency response time to determine the drones corresponding to the required response time not greater than the emergency response time as the initially screened drones; determine the current on-board energy and the inspection energy required to complete the preliminary inspection according to the drone parameter information, the preliminary inspection time, and the required response time, and subtract the inspection energy from the current on-board energy to determine the remaining energy; determine the corresponding energy warning threshold according to the drone parameter information, and screen the initially screened drones according to the energy warning threshold and the remaining energy to determine the initially screened drones with the remaining energy greater than the energy warning threshold as the drones to be responded to.

[0027] More specifically, due to the different drone models, there may be a situation where the drones within the response area cannot move to the corresponding inspection starting point within the emergency response time. Therefore, it is necessary to conduct a preliminary screening for each drone to determine the initially screened drones, and then conduct a secondary screening according to the on-board energy of the initially screened drones to ensure that the target drone can complete the preliminary inspection alone, avoid the need for multiple drones to conduct inspections, affect the inspection tasks of too many other drones, and affect the operation efficiency of the overall inspection system. In addition, it is necessary to ensure that the target drone still has a certain amount of energy after the preliminary screening to return to its own nest or land nearby, to avoid the drone falling and being damaged due to lack of energy.

[0028] S04. Screen the drones to be responded to according to the drone position, the inspection starting point, and the drone parameters to determine the drone to be responded to with the shortest emergency response time as the target drone.

[0029] Specifically, the drones to be responded to are further screened to determine the drone with the fastest response as the target drone, and then emergency inspection is carried out in a timely manner to ensure the inspection efficiency and timeliness.

[0030] S05. Determine a preliminary inspection path according to the position information of the target drone, the fault area, and the fault type, so that the target drone conducts emergency inspection according to the preliminary inspection path.

[0031] Specifically, after step S05, it further includes: determining the emergency inspection time according to the fault type and the fault area, where the emergency inspection time is the maximum allowable time required to complete a comprehensive inspection of the fault area, obtaining the first hangar information within the preset range of the fault area and the standby drone information in the first hangar, dividing the fault area into multiple fault units according to the first hangar information, the standby drone information, and the emergency inspection time, and generating a corresponding comprehensive inspection path according to the first hangar information, the standby drone information, and the fault units, so that the standby drones conduct a comprehensive inspection of the fault units according to the comprehensive inspection path.

[0032] Specifically, the preliminary inspection of the target drone aims to roughly judge the situation and degree of the fault area initially. In order to enable the subsequent maintenance personnel to have sufficient information for targeted maintenance of the fault, it is necessary to conduct a comprehensive inspection of the fault area to obtain sufficient and accurate fault information. Furthermore, through the cooperation of the preliminary inspection and the comprehensive inspection, the maintenance personnel can be more targeted when preparing maintenance equipment and tools, and can fully understand the fault situation of the fault area on the way to the maintenance. In addition, to ensure the timely handling of the fault and the effectiveness of the information, it is necessary to complete the comprehensive inspection of the fault area within the emergency inspection time to ensure that the fault information is provided to the maintenance personnel in a timely manner. Therefore, it is necessary to screen the first hangar and the standby drones in the hangar according to the emergency inspection time. Using the standby drones in the hangar instead of the drones that are performing tasks is because the target drone has been dispatched for preliminary inspection, and through the preliminary inspection, the general real-time situation of the fault area can be accurately and timely judged, and then there is enough time to dispatch the standby drones for more detailed comprehensive inspection. In addition, it is avoided to dispatch too many drones that are performing tasks, so as not to affect the normal dispatching and execution of drone tasks.

[0033] Further, determine the distance information between the first hangar and the fault area according to the first hangar information and the fault area; Determine the first inspection area for each of the first hangars to conduct a comprehensive inspection of the fault area within the emergency inspection time according to the standby drone information, the distance information, and the drone quantity information; Integrate all the first inspection areas and determine whether the integrated first inspection area covers the fault area; If so, adjust each of the first inspection areas according to a preset unit division method so that the adjusted first inspection area is the fault unit; If not, determine the non-covered areas between the integrated first inspection area and the fault area as missing areas; Respectively determine the geometric center points corresponding to each of the missing areas, and obtain the second drone information of multiple second drone nests closest to each geometric center point and the standby drone information in the second drone nests; According to the second drone nest information, the standby drone information in the second drone nests, and the missing areas, determine the second inspection area for each of the second drone nests to comprehensively inspect the missing areas during the emergency inspection time; Adjust each of the first inspection areas and the second inspection areas according to a preset unit division method so that the adjusted first inspection area and the second inspection area are the fault unit.

[0034] Specifically, to avoid the situation of overlapping or interfering paths of the drones dispatched by each first drone nest for comprehensive inspection, it is necessary to divide the fault area. In addition, there is a situation where there are many drones within the preset range performing tasks and few standby drones, so it is also necessary to determine the corresponding second drone nests for each missing area. Then, adjust the areas that the standby drones in each first drone nest and second drone nest can inspect during the emergency inspection time, and perform corresponding path planning.

[0035] Furthermore, the step of adjusting each of the first inspection areas according to a preset unit division method includes: Determine the first inspection areas with intersections as the inspection areas to be adjusted; Sequentially adjust the number of standby drones performing comprehensive inspection in the first drone nests corresponding to the inspection areas to be adjusted, and then adjust the inspection areas to be adjusted to determine the target inspection areas, so that all the integrated target inspection areas can cover all the adjusted inspection areas, and the square difference of the ratio of the remaining standby drones in each first drone nest to the total number of resident drones in the first drone nest is minimized.

[0036] Specifically, when making specific unit division, in addition to ensuring that each standby UAV can complete the comprehensive inspection tasks within the faulty unit after division, it is also necessary to ensure that the number of standby UAVs without any tasks in each first hangar and second hangar accounts for a certain ratio of the number of resident UAVs in its own hangar, so as to ensure that each first hangar and second hangar can normally complete its own daily inspection tasks and reserve a certain number of standby UAVs for the inspection of possible simultaneous emergency situations.

[0037] In addition, after the step of determining a preliminary inspection path according to the position information of the target UAV, the faulty area and the fault type, so that the target UAV conducts emergency inspection according to the preliminary inspection path, the following steps are included: Obtain the real-time inspection data of the target UAV, and judge the degree of the fault situation in the real-time inspection area according to the real-time inspection data; When the degree of the fault situation in the real-time inspection area is greater than a preset threshold, adjust the preliminary inspection path of the target UAV so that the target UAV conducts a comprehensive inspection of the real-time inspection area; According to the area where the preliminary inspection has been completed, determine the new faulty area, the fault type, the preliminary inspection time, the inspection starting point and the emergency response time to determine the new target UAV and the preliminary inspection path.

[0038] Specifically, it is also necessary to adjust the inspection path of the target UAV according to the real-time inspection data to avoid misjudgment of the previous fault situation and faulty area. Furthermore, for the real-time serious fault situation, it is necessary to adjust the inspection path of the target UAV so that the target UAV immediately conducts a comprehensive inspection, and coordinate other UAVs to complete the preliminary inspection path that the target UAV has not completed according to the area where the target UAV has completed the preliminary inspection.

[0039] In addition, after the step of determining a preliminary inspection path according to the position information of the target UAV, the faulty area and the fault type, so that the target UAV conducts emergency inspection according to the preliminary inspection path, the following steps are included: Judge whether the target UAV is a UAV that is currently conducting inspection; If so, obtain the uncompleted inspection path of the target UAV and determine the take-off hangar of the target UAV; Determine a supplementary inspection path according to the position information of the take-off hangar and the uncompleted inspection path, so that the standby UAVs in the take-off hangar conduct supplementary inspection tasks according to the supplementary inspection path. Specifically, by dispatching other standby UAVs to complete the inspection tasks previously executed by the target UAV, the inspection tasks of the UAV inspection system can be carried out normally to avoid potential hazards and negligence in the previous inspection route of the target UAV.

[0040] In summary, in the above-described embodiment of the UAV target inspection method of the present invention, by obtaining fault information in real time, screening each UAV according to the fault information, and determining the corresponding target UAV, so that the target UAV automatically adjusts and generates a corresponding preliminary inspection path according to the fault information to perform a preliminary inspection of the fault area, thereby avoiding the need to dispatch UAVs in the nest for emergency inspection, greatly improving the emergency inspection ability and inspection efficiency. In addition, during emergency inspection, the target UAV with the fastest emergency efficiency is determined according to the information of each UAV and the nest, and the UAV and the comprehensive inspection path for comprehensively inspecting the fault area are determined, so that the fault area can be comprehensively inspected and troubleshot in a timely manner, and the inspection efficiency is higher and the emergency ability is strong. Therefore, the present invention solves the problems in the prior art that the path of UAV power inspection is fixed, resulting in poor emergency inspection ability and low inspection efficiency of UAV power inspection.

[0041] Embodiment 2 Please refer to Figure 2 , which shows the structural block diagram of the UAV target inspection system proposed in the second embodiment of the present invention. The UAV target inspection system 200 includes: an inspection information determination module 21, a UAV information determination module 22, a to-be-responded UAV screening module 23, a target UAV determination module 24, and a preliminary inspection path determination module 25, wherein: The inspection information determination module 21 is configured to receive fault information, determine a fault area and a fault type according to the fault information, and determine a preliminary inspection time, an inspection start point, and an emergency response time according to the fault area and the fault type. The emergency response time is the maximum allowable time required for the UAV to reach the inspection start point; The UAV information determination module 22 is configured to determine a response area according to the emergency response time and the inspection start point, and obtain the UAV position information and UAV parameter information of all UAVs within the response area; The to-be-responded UAV screening module 23 is configured to screen all UAVs within the response area according to the preliminary inspection time, the UAV position information, the inspection start point, the UAV parameter information, and the emergency response time to determine a plurality of to-be-responded UAVs; The target UAV determination module 24 is configured to screen the to-be-responded UAVs according to the UAV position, the inspection start point, and the UAV parameters, and determine the to-be-responded UAV with the shortest emergency response time as the target UAV; The preliminary inspection path determination module 25 is configured to determine a preliminary inspection path according to the position information of the target UAV, the fault area, and the fault type, so that the target UAV performs emergency inspection according to the preliminary inspection path.

[0042] The functions or operation steps implemented when the above modules are executed are generally the same as those in the above method embodiments, and will not be elaborated here.

[0043] Embodiment III On the other hand, the present invention further provides an electronic device. Please refer to Figure 3 , which shows a schematic diagram of the electronic device in the third embodiment of the present invention, including a memory 20, a processor 10, and a computer program 30 stored on the memory and executable on the processor. When the processor 10 executes the computer program 30, it implements the above-mentioned drone target inspection method.

[0044] Among them, in some embodiments, the processor 10 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips, and is used to run the program code stored in the memory 20 or process data, such as executing an access restriction program.

[0045] Among them, the memory 20 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, a hard disk, a multimedia card, a card-type memory (such as an SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 20 may be an internal storage unit of the electronic device in some embodiments, such as the hard disk of the electronic device. The memory 20 may also be an external storage device of the electronic device in other embodiments, such as a plug-in hard disk equipped on the electronic device, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 20 may also include both the internal storage unit and the external storage device of the electronic device. The memory 20 can be used not only to store application software and various data of the electronic device, but also to temporarily store data that has been output or will be output.

[0046] It should be noted that Figure 3 the shown structure does not constitute a limitation on the electronic device. In other embodiments, the electronic device may include fewer or more components than shown, or combine certain components, or have a different component layout.

[0047] The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the above-mentioned drone target inspection method.

[0048] Those skilled in the art will understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0049] More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection part (electronic device) having one or more wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0050] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well-known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0051] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0052] The above embodiments merely illustrate several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention shall be subject to the appended claims.

Claims

1. A method for targeted inspection of unmanned aerial vehicles, characterized in that, The method includes: Receiving fault information, determining a fault area and a fault type according to the fault information, and determining a preliminary inspection time, an inspection starting point, and an emergency response time according to the fault area and the fault type, where the emergency response time is the maximum allowable time required for the drone to reach the inspection starting point; Determining a response area according to the emergency response time and the inspection starting point, and obtaining drone position information and drone parameter information of all drones within the response area; Screening all drones within the response area according to the preliminary inspection time, the drone position information, the inspection starting point, the drone parameter information, and the emergency response time to determine multiple drones to be responded to; Screening the drones to be responded to according to the drone position, the inspection starting point, and the drone parameters to determine the drone to be responded to with the shortest emergency response time as the target drone; Determining a preliminary inspection path according to the position information of the target drone, the fault area, and the fault type, so that the target drone performs an emergency inspection according to the preliminary inspection path.

2. The drone target inspection method according to claim 1, wherein The step of screening all drones within the response area according to the preliminary inspection time, the drone position information, the inspection starting point, the drone parameter information, and the emergency response time to determine multiple drones to be responded to includes: Determining a relative distance according to the drone position information and the corresponding inspection starting point, and determining the time required for all drones to reach the corresponding inspection starting point from the current position as the required response time according to the relative distance and the drone parameter information; Screening the drones according to the required response time and the emergency response time to determine the corresponding drones whose required response time is not greater than the emergency response time as the initially screened drones; Determining the current on-board energy and the inspection energy required to complete the preliminary inspection according to the drone parameter information, the preliminary inspection time, and the required response time, and subtracting the inspection energy from the current on-board energy to determine the remaining energy; Determining a corresponding energy warning threshold according to the drone parameter information, and screening the initially screened drones according to the energy warning threshold and the remaining energy to determine the initially screened drones with the remaining energy greater than the energy warning threshold as the drones to be responded to.

3. The drone target inspection method according to claim 1, wherein After the step of determining a preliminary inspection path according to the position information of the target drone, the fault area, and the fault type, so that the target drone performs an emergency inspection according to the preliminary inspection path, it includes: Determining an emergency inspection time according to the fault type and the fault area, where the emergency inspection time is the maximum allowable time required to complete a comprehensive inspection of the fault area; Obtaining first nest information within a preset range of the fault area and standby drone information within the first nest, and dividing the fault area according to the first nest information, the standby drone information, and the emergency inspection time to determine multiple fault units; Generate a corresponding comprehensive inspection path based on the first drone nest information, the standby drone information, and the faulty unit, so that the standby drone can comprehensively inspect the faulty unit according to the comprehensive inspection path.

4. The method for targeted inspection of an unmanned aerial vehicle according to claim 3, wherein, The step of dividing the faulty area based on the first drone nest information, the standby drone information, and the emergency inspection time to determine multiple faulty units includes: Determine the distance information between the first drone nest and the faulty area according to the first drone nest information and the faulty area; Determine the first inspection area for each of the first drone nests to comprehensively inspect the faulty area within the emergency inspection time according to the standby drone information, the distance information, and the drone quantity information; Integrate all the first inspection areas and determine whether the integrated first inspection area covers the faulty area; If so, adjust each of the first inspection areas according to a preset unit division method so that the adjusted first inspection area is the faulty unit; If not, determine the multiple uncovered areas between the integrated first inspection area and the faulty area as missing areas; Respectively determine the geometric center points corresponding to each of the missing areas, and obtain the second drone nest information of the multiple second drone nests closest to each geometric center point and the standby drone information of the standby drones in the second drone nests; Determine the second inspection area for each of the second drone nests to comprehensively inspect the missing area within the emergency inspection time according to the second drone nest information, the standby drones in the second drone nests, and the missing area; Adjust each of the first inspection areas and the second inspection areas according to a preset unit division method so that the adjusted first inspection area and the second inspection area are the faulty units.

5. The drone target inspection method according to claim 4, wherein, The step of adjusting each of the first inspection areas according to a preset unit division method includes: Determine the multiple first inspection areas with intersections as the inspection areas to be adjusted; Sequentially adjust the number of standby drones performing comprehensive inspections in the first drone nests corresponding to the inspection areas to be adjusted, and then adjust the inspection areas to be adjusted to determine the target inspection areas, so that all the integrated target inspection areas can cover all the adjusted inspection areas, and the square difference of the ratio of the remaining standby drones in each first drone nest to the total number of resident drones in the first drone nest is minimized.

6. The drone target inspection method according to claim 1, wherein, After the step of determining the preliminary inspection path according to the position information of the target drone, the faulty area, and the faulty type, so that the target drone can perform emergency inspections according to the preliminary inspection path, includes: Obtain the real-time inspection data of the target drone, and judge the degree of the faulty condition of the real-time inspection area according to the real-time inspection data; When the degree of the faulty condition of the real-time inspection area is greater than a preset threshold, adjust the preliminary inspection path of the target drone so that the target drone can comprehensively inspect the real-time inspection area. Based on the area where the preliminary inspection has been completed, determine the new fault area, the fault type, the preliminary inspection time, the inspection starting point, and the emergency response time to determine the new target drone and the preliminary inspection path.

7. The drone target inspection method according to claim 1, wherein, After the step of determining the preliminary inspection path according to the position information of the target drone, the fault area, and the fault type, so that the target drone conducts an emergency inspection according to the preliminary inspection path, it includes: Determine whether the target drone is the drone currently conducting the inspection; If so, obtain the uncompleted inspection path of the target drone and determine the take-off drone nest of the target drone; Determine the supplementary inspection path according to the position information of the take-off drone nest and the uncompleted inspection path, so that the standby drones in the take-off drone nest conduct supplementary inspection tasks according to the supplementary inspection path.

8. An unmanned aerial vehicle target inspection system, characterized in that, For implementing the drone targeted inspection method according to any one of claims 1 to 7, the system includes: An inspection information determination module, configured to receive fault information, determine the fault area and the fault type according to the fault information, and determine the preliminary inspection time, the inspection starting point, and the emergency response time according to the fault area and the fault type, where the emergency response time is the maximum allowable time required for the drone to reach the inspection starting point; A drone information determination module, configured to determine the response area according to the emergency response time and the inspection starting point, and obtain the drone position information and drone parameter information of all drones in the response area; A to-be-responded drone screening module, configured to screen all drones in the response area according to the preliminary inspection time, the drone position information, the inspection starting point, the drone parameter information, and the emergency response time to determine multiple to-be-responded drones; A target drone determination module, configured to screen the to-be-responded drones according to the drone position, the inspection starting point, and the drone parameters to determine the to-be-responded drone with the shortest emergency response time as the target drone; A preliminary inspection path determination module, configured to determine the preliminary inspection path according to the position information of the target drone, the fault area, and the fault type, so that the target drone conducts an emergency inspection according to the preliminary inspection path.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the drone targeted inspection method according to any one of claims 1 to 7.

10. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the drone targeted inspection method according to any one of claims 1 - 7.

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