An unmanned aerial vehicle targeting inspection method and system, a storage medium and an electronic device

Abstract

The application provides a kind of unmanned aerial vehicle targeted inspection method, system, storage medium and electronic equipment, it is related to unmanned aerial vehicle inspection technical field, the method is: receiving fault information, according to fault information to determine fault area and fault type, and according to fault area and fault type to determine preliminary inspection time, inspection starting point and emergency response time;According to emergency response time and inspection starting point to determine response area, and obtain the unmanned aerial vehicle position information and unmanned aerial vehicle parameter information of all unmanned aerial vehicles in response area to screen all unmanned aerial vehicles in response area and determine multiple to-be-responded unmanned aerial vehicles;Then, the to-be-responded unmanned aerial vehicle is screened to determine the target unmanned aerial vehicle;According to the position information of target unmanned aerial vehicle, fault area and fault type to determine preliminary inspection path.The application solves the problem that the path of the existing unmanned aerial vehicle power inspection is fixed, which makes the unmanned aerial vehicle power inspection have poor emergency inspection capability and low inspection efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle inspection, in particular to an unmanned aerial vehicle targeted inspection method, system, storage medium and electronic device. BACKGROUND

[0002] With the continuous expansion of the power network, 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 unmanned aerial vehicle technology in power inspection, in order to ensure the reliability of these transmission lines, unmanned aerial vehicles are used for power inspection, thereby solving the problems of long inspection cycle, large blind area range, high work difficulty and the like existing in manual inspection of distribution networks.

[0003] The advantage of unmanned aerial vehicle inspection is to improve efficiency, reduce manual work in dangerous areas, reduce safety risks, save manpower and material resources, and reduce equipment downtime. In the future, with the continuous progress of technology, unmanned aerial vehicle 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 is expected to be more widely used in various industries. Overall, unmanned aerial vehicle inspection is an efficient, safe and economical monitoring method that provides strong support for the safe operation of various industries.

[0004] However, the traditional unmanned aerial vehicle inspection path is often a preset fixed route, which lacks flexibility, and the same detection frequency is used for all areas. However, with the expansion and popularization of distribution networks, the complexity of distribution network line environments, the increasing demand for multi-scene inspection, high failure rate and long mileage, the previous single and fixed inspection mode cannot split and reorganize the flight path according to changing environments and inspection requirements, thus lacking inspection flexibility. When a fault occurs, the emergency inspection capability is poor, reducing the inspection efficiency. SUMMARY

[0005] Therefore, the purpose of the present application is to provide an unmanned aerial vehicle targeted inspection method, which aims to solve the problem of poor emergency inspection capability and low inspection efficiency of unmanned aerial vehicle power inspection due to the fixed path of the prior art.

[0006] According to an unmanned aerial vehicle targeted inspection method according to an embodiment of the present application, the method comprises:

[0007] 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, the emergency response time being the maximum allowable time required for the unmanned aerial vehicle to reach the inspection starting point;

[0008] Determine a response area according to the emergency response time and the inspection starting point, and obtain the UAV position information and the UAV parameter information of all UAVs in the response area;

[0009] Screen all UAVs in 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 a plurality of to-be-responded UAVs.

[0010] Screen the to-be-responded UAVs according to the UAV position, the inspection starting point and the UAV parameter to determine that the to-be-responded UAV with the shortest emergency response time is a target UAV.

[0011] 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.

[0012] In addition, the UAV targeted inspection method according to the above-mentioned embodiments of the present application can have the following additional technical features:

[0013] Further, the step of screening all UAVs in 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 a plurality of to-be-responded UAVs comprises:

[0014] Determine a relative distance according to the UAV position information and the inspection starting point, and determine that the time required for all UAVs to move from the current position to the inspection starting point is a required response time according to the relative distance and the UAV parameter information;

[0015] Screen the UAVs according to the required response time and the emergency response time to determine that the corresponding UAV with the required response time not greater than the emergency response time is a primary screening UAV.

[0016] Determine the current on-board energy and the inspection energy required for completing the preliminary inspection according to the UAV parameter information, the preliminary inspection time and the required response time, and determine the remaining energy by subtracting the inspection energy from the current on-board energy.

[0017] Determine a corresponding energy alert threshold according to the UAV parameter information, and screen the primary screening UAVs according to the energy alert threshold and the remaining energy to determine that the primary screening UAV with the remaining energy greater than the energy alert threshold is a to-be-responded UAV.

[0018] Further, the step of determining a preliminary inspection path according to the position information of the target UAV, the failure region and the failure type, so that the target UAV performs emergency inspection according to the preliminary inspection path, further comprises:

[0019] determining an emergency inspection time according to the failure type and the failure region, the emergency inspection time being the maximum allowable time required to complete the comprehensive inspection of the failure region;

[0020] obtaining first nest information within a preset range of the failure region and standby UAV information in the first nest, and dividing the failure region into a plurality of failure units according to the first nest information, the standby UAV information and the emergency inspection time;

[0021] generating a corresponding comprehensive inspection path according to the first nest information, the standby UAV information and the failure unit, so that the standby UAV performs comprehensive inspection on the failure unit according to the comprehensive inspection path.

[0022] Further, the step of dividing the failure region into a plurality of failure units according to the first nest information, the standby UAV information and the emergency inspection time comprises:

[0023] determining distance information between the first nest and the failure region according to the first nest information and the failure region;

[0024] determining a first inspection area of each first nest for comprehensive inspection of the failure region within the emergency inspection time according to standby UAV information, the distance information and UAV quantity information;

[0025] integrating all the first inspection areas and determining whether the integrated first inspection areas cover the failure region;

[0026] if yes, adjusting each first inspection area according to a preset unit division method, so that the adjusted first inspection area is the failure unit;

[0027] if no, determining a plurality of missing regions between the integrated first inspection area and the failure region which are not covered;

[0028] determining a corresponding geometric center point of each missing region, and obtaining second nest information of a plurality of second nests closest to each geometric center point and standby UAV information in the second nests;

[0029] determine a second inspection area of each of the second nests for fully inspecting the missing area within the emergency inspection time according to the second nest information, the standby UAV information in the second nests, and the missing area;

[0030] adjust each of the first inspection area and the second inspection area according to a preset unit division method, so that the adjusted first inspection area and the second inspection area are the fault units.

[0031] Further, the step of adjusting each of the first inspection area according to a preset unit division method comprises:

[0032] determine a plurality of first inspection areas with intersection as an adjusted inspection area;

[0033] adjust the number of standby UAVs in the first nest performing full inspection corresponding to the adjusted inspection area in sequence, and then adjust the adjusted inspection area to determine a target inspection area, so that all integrated target inspection areas can cover all integrated adjusted inspection areas, and the square difference between the ratio of the number of remaining standby UAVs in each first nest to the total number of resident UAVs in the first nest is minimized.

[0034] Further, the step of determining 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, comprises:

[0035] obtain real-time inspection data of the target UAV, and determine the fault condition degree of the real-time inspection area according to the real-time inspection data;

[0036] when the fault condition degree of 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 performs full inspection on the real-time inspection area;

[0037] determine a new fault area, a new fault type, a new preliminary inspection time, a new inspection starting point, and a new emergency response time according to the area that has completed preliminary inspection, to determine a new target UAV and a new preliminary inspection path.

[0038] Further, the step of determining 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, comprises:

[0039] determine whether the target UAV is a UAV being inspected;

[0040] If yes, an unfinished inspection path of the target UAV is acquired, and a take-off nest of the target UAV is determined;

[0041] A supplementary inspection path is determined according to the position information of the take-off nest and the unfinished inspection path, so that the standby UAV in the take-off nest performs a supplementary inspection task according to the supplementary inspection path.

[0042] Another object of the embodiment of the present application is to provide a UAV targeted inspection system, which comprises:

[0043] An inspection information determination module 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 starting point and an emergency response time according to the fault area and the fault type, the emergency response time being a maximum allowable time required for a UAV to reach the inspection starting point;

[0044] A UAV information determination module is configured to determine a response area according to the emergency response time and the inspection starting point, and acquire UAV position information and UAV parameter information of all UAVs in the response area;

[0045] A standby UAV screening module is configured to screen all UAVs in 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 a plurality of standby UAVs;

[0046] A target UAV determination module is configured to screen the standby UAVs according to the UAV position, the inspection starting point and the UAV parameter to determine a standby UAV with the shortest emergency response time as a target UAV;

[0047] A preliminary inspection path determination module 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.

[0048] Another object of the embodiment of the present application is to provide a storage medium having a computer program stored thereon, the program being executed by a processor to implement the steps of the UAV targeted inspection method.

[0049] Another object of the embodiment of the present application is to provide an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the UAV targeted inspection method when executing the program.

[0050] The unmanned aerial vehicle target inspection method provided by the present application can realize real-time acquisition of fault information, screening of each unmanned aerial vehicle according to the fault information, determination of a corresponding target unmanned aerial vehicle, automatic adjustment of a preliminary inspection path of the target unmanned aerial vehicle according to the fault information, preliminary inspection of a fault area, and avoidance of the need to dispatch an unmanned aerial vehicle in a nest for emergency inspection, thereby greatly improving the emergency inspection capability and inspection efficiency. In addition, when performing emergency inspection, the target unmanned aerial vehicle with the fastest emergency efficiency is determined according to the information of each unmanned aerial vehicle and the nest, and the unmanned aerial vehicle and the comprehensive inspection path for comprehensively inspecting the fault area are determined, so that the fault area can be comprehensively inspected and eliminated in a timely manner, and the efficiency of the inspection is higher and the emergency capability is stronger. Therefore, the present application solves the problem of poor emergency inspection capability and low inspection efficiency of the unmanned aerial vehicle power inspection in the prior art due to the fixed path of the unmanned aerial vehicle power inspection. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 A flowchart of the unmanned aerial vehicle target inspection method in the first embodiment of the present application is shown in FIG. 1.

[0052] Figure 2 A structural block diagram of the unmanned aerial vehicle target inspection system in the second embodiment of the present application is shown in FIG. 2.

[0053] Figure 3 A structural schematic diagram of the electronic device in the third embodiment of the present application is shown in FIG. 3.

[0054] The following specific embodiments will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0055] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Several embodiments of the present application are shown in the drawings. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0057] Embodiment one

[0058] Please refer to Figure 1 , which shows the unmanned aerial vehicle target inspection method in the first embodiment of the present application. The method specifically includes steps S01-S05.

[0059] S01, 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, the emergency response time being the maximum allowable time required for a UAV to reach the inspection starting point.

[0060] Specifically, the fault information obtained by the power grid monitoring system determines the corresponding fault area and fault type, and then a pre-trained model is used to determine the time required for preliminary inspection of the fault area and fault type, as well as the appropriate inspection starting point of the fault area and the emergency response time. This allows the dispatch of a UAV that meets the requirements to inspect the fault area within the emergency response time, ensuring the timeliness of emergency inspection and avoiding prolonged duration of the fault and 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 appropriate inspection starting point can be determined by applying historical inspection data according to the fault area and fault type. In addition, 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 from the fault information.

[0061] S02, determining a response area according to the emergency response time and the inspection starting point, and obtaining UAV position information and UAV parameter information of all UAVs in the response area.

[0062] Specifically, the response area is determined according to the model of the equipped UAV, the inspection starting point and the emergency response time, to ensure that the UAVs in the response area under normal conditions can move to the corresponding inspection starting point within the response time.

[0063] S03, screening all UAVs in 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 a plurality of to-be-responded UAVs.

[0064] Specifically, according to the unmanned aerial vehicle position information and the corresponding patrol starting point, a relative distance is determined, and according to the relative distance and the unmanned aerial vehicle parameter information, a time required for all unmanned aerial vehicles to move from a current position to the corresponding patrol starting point is determined as a required response time; according to the required response time and the emergency response time, the unmanned aerial vehicles are screened to determine that a corresponding unmanned aerial vehicle with the required response time not greater than the emergency response time is a preliminary screening unmanned aerial vehicle; according to the unmanned aerial vehicle parameter information, the preliminary patrol time and the required response time, a current airborne energy and a patrol energy required for completing the preliminary patrol are determined, and the current airborne energy is subtracted by the patrol energy to determine a residual energy; according to the unmanned aerial vehicle parameter information, a corresponding energy alert threshold is determined, and according to the energy alert threshold and the residual energy, the preliminary screening unmanned aerial vehicle is screened to determine that the preliminary screening unmanned aerial vehicle with the residual energy greater than the energy alert threshold is a to-be-responded unmanned aerial vehicle.

[0065] More specifically, due to the different models of unmanned aerial vehicles, the unmanned aerial vehicles in the response area may not be able to move to the corresponding patrol starting point within the emergency response time, so it is necessary to preliminarily screen each unmanned aerial vehicle to determine a preliminary screening unmanned aerial vehicle, and then to secondarily screen the airborne energy of the preliminary screening unmanned aerial vehicle to ensure that the target unmanned aerial vehicle can complete the preliminary patrol alone, avoid the need for multiple unmanned aerial vehicles to patrol, and affect the patrol tasks of too many other unmanned aerial vehicles, thereby affecting the operation efficiency of the overall patrol system. In addition, it is necessary to ensure that the target unmanned aerial vehicle has a certain energy after completing the preliminary screening, which is used to return to its own nest or to land nearby, thereby avoiding damage to the unmanned aerial vehicle due to lack of energy.

[0066] S04, according to the unmanned aerial vehicle position, the patrol starting point and the unmanned aerial vehicle parameter, the to-be-responded unmanned aerial vehicle is screened to determine that the to-be-responded unmanned aerial vehicle with the shortest emergency response time is a target unmanned aerial vehicle.

[0067] Specifically, the to-be-responded unmanned aerial vehicle is screened again to determine that the fastest unmanned aerial vehicle is the target unmanned aerial vehicle, thereby timely performing emergency patrol and ensuring the patrol efficiency and timeliness.

[0068] S05, according to the position information of the target unmanned aerial vehicle, the fault area and the fault type, a preliminary patrol path is determined, so that the target unmanned aerial vehicle performs emergency patrol according to the preliminary patrol path.

[0069] Specifically, step S05 further comprises: determining an emergency inspection time according to the fault type and the fault area, the emergency inspection time being a maximum allowable time required for completing comprehensive inspection of the fault area, obtaining first nest information within a preset range of the fault area and standby UAV information in the first nest, dividing the fault area into a plurality of fault units according to the first nest information, the standby UAV information and the emergency inspection time, and generating a corresponding comprehensive inspection path according to the first nest information, the standby UAV information and the fault units, so that the standby UAV performs comprehensive inspection on the fault units according to the comprehensive inspection path.

[0070] Specifically, the preliminary inspection of the target UAV aims to preliminarily and roughly judge the condition and degree of the fault area. In order to provide sufficient information for subsequent maintenance personnel to perform targeted maintenance processing on the fault, comprehensive inspection of the fault area is also required to obtain sufficient and accurate fault information. Through the cooperation of preliminary inspection and comprehensive inspection, the maintenance personnel can be more targeted in preparing equipment and tools, and can comprehensively understand the fault condition of the fault area on the way to maintenance. In addition, in order to ensure timely processing of the fault and effectiveness of the information, comprehensive inspection of the fault area needs to be completed within the emergency inspection time to ensure that fault information is provided to the maintenance personnel in a timely manner. Then, the first nest and standby UAVs in the nest need to be screened according to the emergency inspection time. The standby UAVs in the nest are used instead of UAVs that are currently performing tasks, because the target UAV has been dispatched for preliminary inspection, and the approximate real-time condition of the fault area can be accurately and timely judged through preliminary inspection, so that there is enough time to dispatch standby UAVs for more detailed comprehensive inspection. In addition, dispatching too many UAVs that are currently performing tasks can affect normal UAV task dispatching and execution.

[0071] Further, distance information between the first nest and the fault area is determined according to the first nest information and the fault area;

[0072] A first inspection area of each first nest for comprehensive inspection of the fault area within the emergency inspection time is determined according to the standby UAV information, the distance information and UAV quantity information;

[0073] All the first inspection areas are integrated, and it is judged whether the integrated first inspection areas cover the fault area;

[0074] If yes, each first inspection area is adjusted according to a preset unit division method, so that the adjusted first inspection area is the fault unit;

[0075] If not, determine multiple areas not covered between the first inspection area and the fault area after integration as missing areas;

[0076] Determine the geometric center point corresponding to each of the missing areas respectively, and obtain the second nest information of multiple second nests closest to each geometric center point and standby unmanned aerial vehicle information in the second nests;

[0077] According to the second nest information, the standby unmanned aerial vehicle information in the second nests, and the missing areas, determine the second inspection area of each of the second nests for comprehensive inspection of the missing areas within the emergency inspection time;

[0078] According to a preset unit division method, adjust each of the first inspection area and the second inspection area, so that the adjusted first inspection area and the second inspection area are the fault unit.

[0079] Specifically, in order to avoid the condition that the paths of the unmanned aerial vehicles dispatched by each first nest for comprehensive inspection are repeated or interfere with each other, it is necessary to divide the fault area. In addition, there are more unmanned aerial vehicles in the preset range to perform tasks, and fewer standby unmanned aerial vehicles, so it is also necessary to determine the corresponding second nest for each missing area. Then, the areas that can be inspected by the standby unmanned aerial vehicles in each first nest and second nest within the emergency inspection time are adjusted, and the corresponding path planning is performed.

[0080] Further, the step of adjusting each of the first inspection area according to the preset unit division method comprises:

[0081] Determine multiple first inspection areas with intersection as adjustment inspection areas;

[0082] Adjust the number of standby unmanned aerial vehicles in the first nest performing comprehensive inspection corresponding to the adjustment inspection area in turn, and then adjust the adjustment inspection area to determine the target inspection area, so that all the target inspection areas after integration can cover all the adjustment inspection areas after integration, and the square difference between the ratio of the number of remaining standby unmanned aerial vehicles in each first nest to the total number of resident unmanned aerial vehicles in the first nest is minimized.

[0083] Specifically, when performing specific unit division, in addition to ensuring that each standby unmanned aerial vehicle after division can meet the comprehensive inspection task in the fault unit, it is also necessary to ensure that the number of standby unmanned aerial vehicles in each first nest and second nest that do not perform any task accounts for a certain ratio of the number of resident unmanned aerial vehicles in the nest itself, so as to ensure that each first nest and second nest can normally complete its daily inspection task, and reserve a certain number of standby unmanned aerial vehicles for possible simultaneous fault condition inspection.

[0084] Further, the step of determining the preliminary inspection path according to the position information of the target UAV, the fault region and the fault type, so that the target UAV performs emergency inspection according to the preliminary inspection path, comprises:

[0085] acquiring real-time inspection data of the target UAV, and judging the fault condition degree of the real-time inspection region according to the real-time inspection data;

[0086] when the fault condition degree of the real-time inspection region is greater than a preset threshold, adjusting the preliminary inspection path of the target UAV, so that the target UAV performs comprehensive inspection on the real-time inspection region;

[0087] determining a new fault region, a new fault type, a new preliminary inspection time, a new inspection starting point and a new emergency response time according to the region on which the preliminary inspection has been completed, to determine a new target UAV and a new preliminary inspection path.

[0088] Specifically, the inspection path of the target UAV also needs to be adjusted according to the real-time inspection data, so as to avoid errors in the judgment of the early fault condition and the fault region, and then the inspection path of the target UAV needs to be adjusted for the real-time serious fault condition, so that the target UAV immediately performs comprehensive inspection, and other UAVs complete the preliminary inspection path that has not been completed by the target UAV according to the region on which the preliminary inspection of the target UAV has been completed.

[0089] Further, the step of determining the preliminary inspection path according to the position information of the target UAV, the fault region and the fault type, so that the target UAV performs emergency inspection according to the preliminary inspection path, comprises:

[0090] judging whether the target UAV is a UAV that is currently performing inspection;

[0091] if yes, acquiring an inspection path that has not been completed by the target UAV, and determining a take-off nest of the target UAV;

[0092] determining a supplementary inspection path according to the position information of the take-off nest and the inspection path that has not been completed, so that a standby UAV in the take-off nest performs a supplementary inspection task according to the supplementary inspection path. Specifically, other standby UAVs are dispatched to complete the inspection task performed by the target UAV before, so that the inspection task of the UAV inspection system can proceed normally, so as to avoid the situation that the previous inspection route of the target UAV has hidden dangers which are neglected.

[0093] To sum up, the unmanned aerial vehicle targeting inspection method in the above embodiment of the present application, by real-time acquisition of fault information, and then screening each unmanned aerial vehicle according to the fault information, determines the corresponding target unmanned aerial vehicle, so that the target unmanned aerial vehicle automatically adjusts the corresponding preliminary inspection path according to the fault information to preliminarily inspect the fault area, thereby avoiding the need to dispatch the unmanned aerial vehicle in the nest for emergency inspection, greatly improving the emergency inspection capability and inspection efficiency. In addition, when performing emergency inspection, the target unmanned aerial vehicle with the fastest emergency efficiency is determined according to the information of each unmanned aerial vehicle and nest, and the unmanned aerial vehicle and the comprehensive inspection path for comprehensive inspection of the fault area are determined, so that the fault area is comprehensively inspected and eliminated in time, and the efficiency of the inspection is higher and the emergency capability is stronger. Therefore, the present application solves the problem of poor emergency inspection capability and low inspection efficiency of the existing unmanned aerial vehicle power inspection path.

[0094] Embodiment two

[0095] Please refer to Figure 2 , it is the structure block diagram of the unmanned aerial vehicle targeting inspection system proposed in the second embodiment of the present application, the unmanned aerial vehicle targeting inspection system 200 includes: inspection information determination module 21, unmanned aerial vehicle information determination module 22, to be responded unmanned aerial vehicle screening module 23, target unmanned aerial vehicle determination module 24 and preliminary inspection path determination module 25, wherein:

[0096] The inspection information determination module 21 is used for receiving fault information, determining fault area and fault type according to the fault information, and determining 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;

[0097] The unmanned aerial vehicle information determination module 22 is used for determining the response area according to the emergency response time and the inspection starting point, and acquiring the unmanned aerial vehicle position information and the unmanned aerial vehicle parameter information of all unmanned aerial vehicles in the response area;

[0098] The to-be-responded unmanned aerial vehicle screening module 23 is used for screening all unmanned aerial vehicles in the response area according to the preliminary inspection time, the unmanned aerial vehicle position information, the inspection starting point, the unmanned aerial vehicle parameter information and the emergency response time to determine a plurality of to-be-responded unmanned aerial vehicles;

[0099] The target unmanned aerial vehicle determination module 24 is used for screening the to-be-responded unmanned aerial vehicles according to the unmanned aerial vehicle position, the inspection starting point and the unmanned aerial vehicle parameter to determine the to-be-responded unmanned aerial vehicle with the shortest emergency response time as the target unmanned aerial vehicle;

[0100] 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 region and the fault type, so that the target UAV performs emergency inspection according to the preliminary inspection path.

[0101] The functions or operation steps realized when the above modules are executed are basically the same as those of the above method embodiments, and thus will not be repeated here.

[0102] Embodiment Three

[0103] Another aspect of the present application also provides an electronic device, referring to Figure 3 , which is a schematic diagram of an electronic device in the third embodiment of the present application, and includes a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor, and the processor 10 realizes the above-mentioned UAV targeted inspection method when executing the computer program 30.

[0104] In some embodiments, the processor 10 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip, used to run program codes or process data stored in the memory 20, such as executing access restriction programs.

[0105] In some embodiments, the memory 20 can be an internal storage unit of the electronic device, such as a hard disk of the electronic device. In other embodiments, the memory 20 can also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 20 can 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.

[0106] It should be noted that Figure 3 The structures shown do not constitute a limitation on the electronic device, and in other embodiments, the electronic device can include fewer or more components than those shown, or combine certain components, or different component arrangements.

[0107] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the unmanned aerial vehicle targeting inspection method.

[0108] Those skilled in the art can understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a list of executable instructions for implementing the logic function, and can be specifically implemented in any computer readable medium for use by an instruction execution system, device or apparatus, such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from the instruction execution system, device or apparatus, or in conjunction with these instructions execution system, device or apparatus. For the present specification, the "computer readable medium" can be any device that can contain, store, communicate, propagate or transport programs for use by an instruction execution system, device or apparatus, or in conjunction with these instruction execution system, device or apparatus.

[0109] More specific examples (a non-exhaustive list) of the computer readable medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic devices), 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). In addition, the computer readable medium can even be paper or other suitable medium on which the program is printed, as the program can be electronically obtained, for example, by optical scanning of the paper or other medium, followed by electronic means to obtain the program, and then storing the program in computer memory.

[0110] It should be understood that parts of the present application can be realized in hardware, software, firmware or a combination thereof. In the above-described embodiments, a plurality of steps or methods can be realized by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if realized in hardware, and as in another embodiment, any one or a combination of the following technologies known in the art can be used: discrete logic circuit with logic gate circuit for implementing logic function on data signal, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0111] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like 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 application. In the present specification, the illustrative expressions 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 appropriate manner in one or more embodiments or examples.

[0112] The above embodiments only express several implementation manners of the present application, which are described in a more specific and detailed manner, but cannot be understood as the limitation of the patent scope of the present application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for targeted inspection of unmanned aerial vehicles, characterized in that, The method comprises: 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, the emergency response time being the maximum allowable time required for a UAV to reach the inspection starting point; determining a response area according to the emergency response time and the inspection starting point, and obtaining UAV position information and UAV parameter information of all UAVs in the response area; screening all UAVs in 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 a plurality of to-be-responded UAVs; screening the to-be-responded UAVs according to the UAV position, the inspection starting point and the UAV parameter to determine a target UAV with the shortest emergency response time; determining 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; determining an emergency inspection time according to the fault type and the fault area, the emergency inspection time being the maximum allowable time required for completing comprehensive inspection of the fault area; obtaining first nest information in a preset range of the fault area and standby UAV information in the first nest, and dividing the fault area according to the first nest information, the standby UAV information and the emergency inspection time to determine a plurality of fault units; generating a corresponding comprehensive inspection path according to the first nest information, the standby UAV information and the fault units, so that the standby UAVs perform comprehensive inspection of the fault units according to the comprehensive inspection path; obtaining real-time inspection data of the target UAV, and judging the fault condition degree of a real-time inspection area according to the real-time inspection data; when the fault condition degree of the real-time inspection area is greater than a preset threshold, adjusting the preliminary inspection path of the target UAV, so that the target UAV performs comprehensive inspection of the real-time inspection area; determining a new fault area, a new fault type, a new preliminary inspection time, a new inspection starting point and a new emergency response time according to the area that has completed preliminary inspection, to determine a new target UAV and a new preliminary inspection path; wherein the step of dividing the fault area according to the first nest information, the standby UAV information and the emergency inspection time to determine a plurality of fault units comprises: determining distance information between the first nest and the fault area according to the first nest information and the fault area; determining a first inspection area of each first nest for performing comprehensive inspection of the fault area within the emergency inspection time according to the standby UAV information, the distance information and UAV quantity information; integrating all the first inspection areas and judging whether the integrated first inspection areas cover the fault area; If yes, each of the first inspection areas is adjusted according to a preset unit division method, so that the first inspection area after adjustment is the fault unit; The step of adjusting each of the first inspection areas according to the preset unit division method comprises: determining a plurality of first inspection areas with intersection as to-be-adjusted inspection areas; adjusting the number of standby drones in the first nest corresponding to the to-be-adjusted inspection area in turn, and then adjusting the to-be-adjusted inspection area to determine a target inspection area, so that all the target inspection areas after integration can cover all the to-be-adjusted inspection areas after integration, and the square difference between the ratio of the number of remaining standby drones in each first nest to the total number of resident drones in the first nest is minimized.

2. The method of claim 1, wherein, The step of screening 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 a plurality of to-be-responded drones comprises: determining a relative distance according to the drone position information and the inspection starting point corresponding to the inspection starting point, and determining the time required for all drones to move from the current position to the inspection starting point corresponding to the inspection starting point as the required response time according to the relative distance and the drone parameter information; screening drones according to the required response time and the emergency response time to determine that the corresponding drone whose required response time is not greater than the emergency response time is a preliminary screening drone; 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 determining the remaining energy by subtracting the inspection energy from the current on-board energy; determining a corresponding energy alert threshold according to the drone parameter information, and screening the preliminary screening drone according to the energy alert threshold and the remaining energy to determine that the preliminary screening drone whose remaining energy is greater than the energy alert threshold is a to-be-responded drone.

3. The method of claim 1, wherein, The step of integrating all the first inspection areas and determining whether the integrated first inspection area covers the fault area comprises: If no, a plurality of areas not covered between the integrated first inspection area and the fault area are determined as missing areas; determining the geometric center point corresponding to each of the missing areas respectively, and obtaining the second nest information of a plurality of second nests closest to each geometric center point and the standby drone information in the second nests; determining a second inspection area of each of the second nests for comprehensive inspection of the missing area within the emergency inspection time according to the second nest information, the standby drone information in the second nests, and the missing area; adjusting each of the first inspection area and the second inspection area according to a preset unit division method, so that the first inspection area and the second inspection area after adjustment are the fault unit.

4. The method of claim 1, wherein, The step of determining the preliminary inspection path according to the position information of the target UAV, the fault region and the fault type, so that the target UAV performs emergency inspection according to the preliminary inspection path, comprises: determining whether the target UAV is a UAV being inspected; if yes, obtaining an uncompleted inspection path of the target UAV and determining a take-off nest of the target UAV; determining a supplementary inspection path according to the position information of the take-off nest and the uncompleted inspection path, so that a standby UAV in the take-off nest performs a supplementary inspection task according to the supplementary inspection path.

5. An unmanned aerial vehicle targeting inspection system, comprising: The system for implementing the UAV targeted inspection method according to any one of claims 1 to 4, comprises: an inspection information determination module, configured to receive fault information, determine a fault region 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 region and the fault type, the emergency response time being a maximum allowable time required for a UAV to reach the inspection starting point; a UAV information determination module, configured to determine a response region according to the emergency response time and the inspection starting point, and obtain UAV position information and UAV parameter information of all UAVs in the response region; a standby UAV screening module, configured to screen all UAVs in the response region 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 a plurality of standby UAVs; a target UAV determination module, configured to screen the standby UAVs according to the UAV position, the inspection starting point and the UAV parameter, to determine a standby UAV with the shortest emergency response time as a target UAV; a preliminary inspection path determination module, configured to determine a preliminary inspection path according to the position information of the target UAV, the fault region and the fault type, so that the target UAV performs emergency inspection according to the preliminary inspection path.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the steps of the UAV targeted inspection method according to any one of claims 1 to 4.

7. An electronic device, comprising: The computer program is stored in the memory and executable on the processor, and the processor implements the UAV targeted inspection method according to any one of claims 1 to 4 when executing the program. The computer program is stored in the memory and executable on the processor, and the processor implements the UAV targeted inspection method according to any one of claims 1 to 4 when executing the program.

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