CN117132086B - Unmanned aerial vehicle laser operation plan arrangement method, system, equipment and medium - Google Patents
Unmanned aerial vehicle laser operation plan arrangement method, system, equipment and medium Download PDFInfo
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Abstract
The invention discloses a method, a system, equipment and a medium for arranging a laser operation plan of an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles; judging whether section data corresponding to a line corresponding to the update operation data is in a forbidden flight range or not, and generating a judging result; performing array de-duplication processing on the section array corresponding to the section data based on the judging result to generate target operation data; and generating a laser operation planning and arranging table by adopting a preset line responsibility person library, a preset line importance library, a preset development time section and target operation data. The technical problem of current laser operating efficiency low is solved. According to the method, the data are automatically arranged through the algorithm, the scheduling efficiency is effectively improved, and the accuracy of the data is ensured.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method, a system, equipment and a medium for arranging a laser operation plan of an unmanned aerial vehicle.
Background
The distribution points of the high-voltage transmission line are wide in multiple faces, and the daily operation and maintenance work of the transmission line is important and heavy. In recent years, the economic development is high, the power supply demand is increased year by year, the grid frame of the power grid is continuously perfected, the scale of the power transmission line is continuously enlarged, and the requirements of customers on the power supply reliability are continuously improved, so that the operation and maintenance requirements of companies on equipment are higher and finer. According to the latest operation and maintenance policy requirements, the line operation and maintenance should follow the following 3 principles: "quarter" control principle: and determining the control level of the power transmission line according to the two dimensions of the health degree and the importance degree of the power transmission line, and realizing layering, grading, classification and professional control of the power transmission line. 2. Dynamic control principle: when the importance or health of the power transmission line changes, the control level of the power transmission line should be dynamically adjusted, and the operation and maintenance strategy of the power transmission line should be timely adjusted. 3. Differential inspection principle: according to different control levels of the power transmission line, different operation and maintenance strategies should be formulated and implemented.
According to the requirements of the principle, the inspection work of the power transmission line is divided into three major categories, namely daily inspection, special inspection and dynamic inspection, and all inspection works need to be planned in a production system. In special inspection, the inspection of preventing mountain fires and the inspection of preventing tree barriers is very important, and when the distance between wires and trees is insufficient, the situation of discharging the trees can occur, so that accidents of mountain fires and personal electric shock casualties can be caused. Therefore, in order to strengthen management of tree barriers and forest fire sections, the power transmission profession introduces a laser radar to measure the distance between the wire pairs and the tree. The laser radar can be respectively carried on the multi-rotor unmanned aerial vehicle and the helicopter for measurement operation. Helicopter operation is carried out by a professional outsourcing organization. Unmanned aerial vehicle laser radar operation is responsible for developing by the transmission institute by oneself, and unmanned aerial vehicle laser class operation work is developed and is required to compile corresponding inspection work plan. However, because the helicopter has the limit of the operation range or the multi-rotor unmanned aerial vehicle has the no-fly limit, when the unmanned aerial vehicle is compiled for laser operation, the overlapping part, the no-fly area part and other areas are manually screened and removed, so that the laser operation plan of the forest fire prevention and tree barrier prevention section of the power transmission line is manually compiled, error leakage is easy to occur, and the laser operation efficiency is low.
Disclosure of Invention
The invention provides a method, a system, equipment and a medium for arranging a laser operation plan of an unmanned aerial vehicle, which solve the technical problems that in the prior art, when the unmanned aerial vehicle is arranged for laser operation, the overlapping part, the no-fly zone part and other areas are manually screened and removed, so that the laser operation plan of a forest fire prevention and tree barrier prevention section of a power transmission line is manually arranged, error leakage is easy to occur, and the laser operation efficiency is low.
The invention provides a method for arranging a laser operation plan of an unmanned aerial vehicle, which is applied to a laser operation plan arranger, and comprises the following steps:
responding to a laser operation planning request, and acquiring a line protection special section library corresponding to the laser operation planning request;
extracting initial operation data of each line and each team from the line protection special section library, selecting lines which are out of the helicopter operation range in the initial operation data, and generating updated operation data;
judging whether section data corresponding to a line corresponding to the update operation data is in a forbidden flight range or not, and generating a judging result;
performing array de-duplication processing on the section array corresponding to the section data based on the judging result to generate target operation data;
And generating a laser operation planning and arranging table by adopting a preset line responsibility person library, a preset line importance library, a preset development time section and the target operation data.
Optionally, the step of extracting initial operation data of each line and each team from the line protection special section library, selecting a line out of the helicopter operation range in the initial operation data, and generating updated operation data includes:
extracting each line and each team from the line protection special section library to generate initial operation data;
judging whether a line corresponding to the initial operation data is out of a helicopter operation range corresponding to a preset helicopter operation line library based on the preset helicopter operation line library;
if not, rejecting the circuit;
if yes, counting a plurality of lines to generate update operation data.
Optionally, the step of determining whether the section data corresponding to the line corresponding to the update job data is in the no-fly range, and generating a determination result includes:
judging whether section data corresponding to a line corresponding to the update operation data is in a forbidden flight range or not;
if yes, storing the line into a preset special section forbidden database;
If not, storing the line into a preset non-flight forbidden special section database.
Optionally, the step of determining whether the section data corresponding to the line corresponding to the update operation data is in the no-fly range includes:
extracting section data corresponding to a line corresponding to the update operation data;
acquiring coordinates of the section data from a preset line pole tower coordinate library, and generating line section coordinates;
and judging whether the coordinates of the line section are in a forbidden range corresponding to the boundary data of the forbidden zone of the preset airport by adopting an included angle and coordinate position judging method.
Optionally, the step of performing array deduplication processing on the segment array corresponding to the segment data based on the determination result to generate target operation data includes:
when the judging result is that the section data corresponding to the line is not in the no-flight range, extracting the section data from the preset non-no-flight special section database;
judging whether the section data is composed of line segments or not;
if not, judging that the section data consists of points, generating point data, and performing array de-duplication processing on the point data to generate first target operation data;
if yes, judging that the section data consists of line segments, and performing array de-duplication processing on a section array corresponding to the section data to generate second target operation data.
Optionally, the step of performing array deduplication processing on the point data to generate first target job data includes:
judging whether the data identical to the point data exists in the rest section data in the preset non-fly forbidden special section database or whether the line segment array corresponding to the rest section data contains the point data or not;
if yes, judging that the point data has repeated data, and eliminating the point data;
if not, the point data is reserved, and first target job data is generated.
Optionally, the step of performing array deduplication processing on the segment array corresponding to the segment data to generate second target operation data includes:
acquiring a section array corresponding to the section data;
extracting a line segment array corresponding to the rest section data in the preset non-flight forbidden special section database to generate a section set;
judging whether the minimum value of the section array is equal to the minimum value of the line segment array corresponding to the section set;
if the minimum value of the section array is equal to the minimum value of the line segment array, judging whether the maximum value of the section array is equal to the maximum value of the line segment array;
If the maximum value of the section array is equal to the maximum value of the line segment array, the section data is reserved, the line segment array is removed, and second target operation data are generated;
if the minimum value of the section array is not equal to the minimum value of the line segment array, judging whether the minimum value of the section array is larger than the minimum value of the line segment array and smaller than the maximum value of the line segment array;
if the minimum value of the section array is larger than the minimum value of the line segment array and smaller than the maximum value of the line segment array, judging whether the maximum value of the section array is smaller than or equal to the maximum value of the line segment data;
if the maximum value of the section array is smaller than or equal to the maximum value of the line segment array, eliminating the section array, reserving the line segment array, and generating second target operation data;
if the maximum value of the section array is judged to be larger than the maximum value of the line segment array, eliminating the section data and the line segment array, and generating second target operation data by adopting the minimum value of the line segment array and the maximum value of the section array;
if the minimum value of the section array is smaller than the minimum value of the line segment array, comparing the maximum value of the section array with the minimum value of the line segment array;
If the maximum value of the section array is smaller than the minimum value of the line segment array, judging that the numerical value of the section array is not overlapped with the numerical value of the line segment array, reserving the section array, and generating second target operation data;
if the maximum value of the section array is equal to the minimum value of the line segment array, generating second target operation data by adopting a value between the minimum value of the section array and the maximum value of the line segment value;
and if the maximum value of the section array is larger than the minimum value of the line segment array and is equal to the maximum value of the line segment array, reserving the section array, and generating second target operation data.
The invention provides a laser operation plan editing system of an unmanned aerial vehicle, which is applied to a laser operation plan editing device and comprises the following components:
the line protection special section library module is used for responding to a laser operation planning request and acquiring a line protection special section library corresponding to the laser operation planning request;
the updating operation data module is used for extracting initial operation data of each line and each team from the line protection special section library, selecting lines which are out of the helicopter operation range in the initial operation data and generating updating operation data;
The judging result module is used for judging whether the section data corresponding to the line corresponding to the updating operation data is in a forbidden flight range or not and generating a judging result;
the target operation data module is used for carrying out array de-duplication processing on the section array corresponding to the section data based on the judging result to generate target operation data;
the laser operation scheduling list module is used for generating a laser operation scheduling list by adopting a preset line responsibility person library, a preset line importance library, a preset development time section and the target operation data.
An electronic device according to a third aspect of the present invention includes a memory and a processor, where the memory stores a computer program, and the computer program when executed by the processor causes the processor to execute the steps of the method for scheduling a laser operation plan of an unmanned aerial vehicle according to any one of the above.
A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements a method of scheduling a laser operation plan for a drone as set out in any one of the preceding aspects.
From the above technical scheme, the invention has the following advantages:
According to the invention, the data are automatically arranged through an algorithm, the arrangement of all plans can be completed within 5 minutes, the accuracy rate can reach 100%, the arrangement efficiency of the plans is greatly improved, and the accuracy of the data is ensured.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a flowchart of a method for arranging a laser operation plan of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a laser work plan scheduler according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a laser job planning scheduler using multiple databases for scheduling according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a laser operation scheduling table according to an embodiment of the present invention;
fig. 5 is a step flowchart of a method for scheduling laser operation plans of an unmanned aerial vehicle according to a second embodiment of the present invention;
FIG. 6 is a schematic diagram of determining a forbidden coverage according to a second embodiment of the present invention;
fig. 7 is a block diagram of a system for scheduling laser operation of an unmanned aerial vehicle according to a third embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a method, a system, equipment and a medium for arranging a laser operation plan of an unmanned aerial vehicle, which are used for solving the technical problems that when the unmanned aerial vehicle is arranged in the prior art, the overlapping part, the no-fly zone part and other areas are manually screened and removed, so that the laser operation plan of a forest fire prevention and tree barrier prevention section of a power transmission line is manually arranged, the laser operation efficiency is low due to the fact that the laser operation plan is easily missed.
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-4, fig. 1 is a flowchart illustrating steps of a method for scheduling a laser operation plan of a drone according to an embodiment of the present invention.
The invention provides a method for arranging a laser operation plan of an unmanned aerial vehicle, which is applied to a laser operation plan arranger and comprises the following steps:
and step 101, responding to the laser operation planning request, and acquiring a line protection special section library corresponding to the laser operation planning request.
The laser work schedule scheduling request refers to a request for scheduling a laser work schedule of the multi-rotor unmanned aerial vehicle.
The line protection special section library comprises a line forest fire prevention special section library and a line tree barrier prevention special section library.
In specific implementation, referring to fig. 2, in response to a laser operation planning request, a laser operation planning device is started, and a corresponding line mountain fire prevention special section library and a line tree obstacle prevention special section library are obtained from the laser operation planning request. And 2200 sections of all tree-obstacle prevention sections are managed by power transmission, and 223 sections of mountain fire prevention sections are recorded.
Step 102, extracting initial operation data of each line and each team from a line protection special section library, selecting lines which are out of the helicopter operation range in the initial operation data, and generating updated operation data.
It should be noted that 2200 lines are recorded in the line forest fire prevention special section library, 2200 lines are recorded in the line tree barrier prevention special section library, and all sections relate to 8 teams.
The initial work route is a group data including each route data and the route data.
The operation data updating is to remove the lines in the helicopter operation range and reserve the operation data obtained by the rest lines.
In the specific implementation, each line data and each related team data are respectively extracted from the line mountain fire prevention special section library and the line tree barrier prevention special section library, and each line data and each team data are combined to generate initial operation data.
Checking lines in the helicopter operation range and lines not in the helicopter operation range in the initial operation data, if the lines are in the helicopter operation range, removing the lines in the helicopter operation range, and reserving the rest lines to obtain updated operation data.
Step 103, judging whether the section data corresponding to the line corresponding to the update operation data is in the no-fly range, and generating a judging result.
The section data refers to the data of the section to which a certain line belongs, and the line coordinates can be found according to the section data.
The no-fly range refers to a range described in airport no-fly zone boundary data.
In specific implementation, the coordinates of the section data of each line are queried, whether each line coordinate is located in the no-fly range is searched, if each line coordinate is located in the no-fly range, the line is removed, and the rest lines are searched. If the line coordinates are not within the no-fly range, step 104 is performed.
Step 104, performing array de-duplication processing on the segment array corresponding to the segment data based on the judgment result, and generating target operation data.
It should be noted that, the judgment result is that the coordinates of the line are not in the forbidden range.
The array de-duplication process refers to searching whether the same/repeated array exists in the segment array of each segment data, if so, eliminating the same or repeated array, and if not, reserving the segment array of the original segment data.
In the implementation, when the coordinates of the line are not in the forbidden flight range, judging whether the section array corresponding to the section data of each line has the same or repeated array or whether other arrays contain the section array, if so, removing the repeated array according to the actual situation, if not, reserving the original section array, and combining all reserved section arrays to generate the target operation data.
Step 105, generating a laser operation planning list by adopting a preset line responsibility person library, a preset line importance library, a preset development time section and target operation data.
The preset line responsibility person library comprises information such as a class name, a patrol worker responsible person, a patrol team member, working contents and the like.
The preset line importance library comprises information such as names of each line, each rod section of each line, importance of each line, inspection modes and task types corresponding to the importance, and the like.
The preset development time section comprises information such as the name of each line, each rod section of each line, the starting time and the ending time of each rod section inspection, the inspection mode and the like.
In specific implementation, referring to fig. 3 and fig. 4, extracting a section array corresponding to each line and a class name corresponding to each line from target operation data, searching a rod section and a class name of the line according to the section array, extracting information such as the corresponding class name, a patrol worker responsible person, a patrol team member, working contents and the like from a preset line responsibility person library according to the class name of the line, extracting information such as a patrol mode and a task type corresponding to the rod section of the line, acquiring start time and end time of patrol from a preset development time section, extracting corresponding information from low to high line by line according to a voltage level corresponding to the line by a laser operation plan scheduler, generating a laser operation plan list according to the extracted information, referring to fig. 4, for example, extracting an array (such as an array of sections [19-20 ]) and a group) of 110kV gold lines by taking the line name as an example, and searching an array (such as an array of sections [19-20 ]) and a group (such as a group of sections [ 38-20 ] and a group [ 20] of lines [ 38-20 ]; and extracting the main person (such as forest somewhere) of a patrol worker and members (such as Huang Mou, xian somewhere, yuan somewhere and Wang somewhere) of a patrol team and working contents (such as general_laser radar unmanned aerial vehicle mountain fire and tree obstacle prevention patrol @110kV Jin Hengxian @9-10 and 19-20), extracting the importance degree (such as general) of the line, wherein the patrol mode corresponding to the importance degree is machine patrol [ multi-rotor ], the task type is automatic patrol, the patrol mode is laser radar, no flight-restricted section exists, the operation mode is multi-rotor, the start time and the end time of patrol are 2023/06/12 to 2023/06/30, and arranging the information into a corresponding laser operation schedule according to a preset form.
According to the invention, the data are automatically arranged through an algorithm, the arrangement of all plans can be completed within 5 minutes, the accuracy rate can reach 100%, the arrangement efficiency of the plans is greatly improved, and the accuracy of the data is ensured.
Referring to fig. 2 and fig. 5-6, fig. 5 is a flowchart illustrating steps of a method for scheduling a laser operation plan of a unmanned aerial vehicle according to a second embodiment of the present invention.
The invention provides a method for arranging a laser operation plan of an unmanned aerial vehicle, which is applied to a laser operation plan arranger and comprises the following steps:
step 201, responding to a laser operation planning request, and acquiring a line protection special section library corresponding to the laser operation planning request.
In the embodiment of the present invention, the implementation process of step 201 is similar to that of step 101, and will not be repeated here.
Step 202, extracting initial operation data of each line and each team from a line protection special section library, selecting lines which are out of the helicopter operation range in the initial operation data, and generating updated operation data.
Optionally, step 202 includes the following steps S11-S14:
s11, extracting each line and each team from a line protection special section library to generate initial operation data;
S12, judging whether a line corresponding to initial operation data is out of a helicopter operation range corresponding to a preset helicopter operation line library based on the preset helicopter operation line library;
s13, if not, removing the circuit;
and S14, if yes, counting a plurality of lines to generate update operation data.
It should be noted that the line protection special section library includes a line forest fire prevention special section library and a line tree barrier prevention special section library.
The preset helicopter operation line library comprises a plurality of helicopter operation lines, and the helicopter operation range can be known by each helicopter operation line.
In specific implementation, referring to fig. 2, each line and the teams corresponding to each line are extracted from the line forest fire prevention special section library and the line tree barrier prevention special section library, and each line and the teams corresponding to each line are combined to obtain initial operation data.
Checking whether each line in the initial operation data is in the helicopter operation range, if the existing line is in the helicopter operation range, removing the line, counting the remained lines after the removal, namely the lines not in the helicopter operation range, and judging as updating the operation data.
Specifically, patrol operation is carried out by the helicopter in the operation range of the helicopter operation line, and the multi-rotor unmanned aerial vehicle needs to be arranged for supplementary patrol aiming at the line which cannot be operated by the helicopter, so that whether the patrol line of the multi-rotor unmanned aerial vehicle is in the operation range of the helicopter or not needs to be judged, repeated patrol of the helicopter and the multi-rotor unmanned aerial vehicle can be avoided, the time is wasted, and the working efficiency is reduced.
Step 203, determining whether the section data corresponding to the line corresponding to the update operation data is in the no-fly range.
Optionally, step 203 includes the following steps S21-S23:
s21, extracting section data corresponding to a line corresponding to the update operation data;
s22, acquiring coordinates of section data from a preset line pole tower coordinate library, and generating line section coordinates;
s23, judging whether the coordinates of the line section are in a forbidden range corresponding to the boundary data of the forbidden zone of the preset airport by adopting an included angle and coordinate position judging method.
The line segment coordinates refer to coordinates of segment data corresponding to each line.
The preset airport no-fly zone boundary data comprise coordinate data of all boundaries of the airport no-fly zone, and the airport no-fly zone boundary is a polygon.
In specific implementation, referring to fig. 6, the section data corresponding to each line is extracted from the update operation data, the coordinates of the section data, that is, the line section coordinates, are extracted from the line tower coordinate base by using the section data, and whether the line section coordinates are in the forbidden flight range of the boundary data of the preset airport forbidden zone is determined by an included angle and coordinate determination method.
Specifically, the included angle and coordinate judgment method comprises the following steps: let the coordinates of the line segment be the target point The vertices of the non-flying area polygon are +.>、/>、...、/>If the sum of the angles between the lines of the target point P and all vertices is 360 degrees, i.e. +.>Wherein->、/>、...、/>The included angle formed by each edge of the target point P and the no-fly zone polygon is shown respectively, namely, the target point P is inside the no-fly zone polygon, otherwise, the target point P is outside the no-fly zone polygon.
And 204, if yes, storing the line into a preset special section forbidden database.
It should be noted that two temporary databases are created to store the special section data that is disabled and the special section data that is not disabled.
In the implementation, if the line is determined to be in the no-fly range, the line is stored in a preset no-fly special section database.
Step 205, if not, storing the line into a preset non-disabled special section database.
In the implementation, if the line is determined not to be in the no-flight range, the line is stored in a preset no-flight specific section database.
Step 206, performing array de-duplication processing on the segment array corresponding to the segment data based on the determination result, and generating the target operation data.
Optionally, step 206 includes the following steps S31-S34:
s31, when the judgment result is that the section data is not in the no-flight range, extracting the section data from a preset non-no-flight special section database;
S32, judging whether the section data is composed of line segments or not;
s33, if not, judging that the section data is composed of points, generating point data, performing array de-duplication processing on the point data, and generating first target operation data;
and S34, if so, judging that the section data consists of line segments, and performing array de-duplication processing on the section array corresponding to the section data to generate second target operation data.
It should be noted that the segment data may be composed of points or line segments, and the segment data needs to be determined to be of the point composition or the line segment composition.
The segment data is subjected to array deduplication processing, namely, the segment merging deduplication device is adopted to perform deduplication processing, and the segment data can be specifically divided into point data formed by points and segment data formed by line segments.
The target job data includes first target job data and second target job data; wherein the first target job data refers to section data composed of points, and the second target job data refers to section data composed of line segments.
In the implementation, when the section data is not in the forbidden flight range, the section data is extracted from a preset non-forbidden flight special section database, whether the section data is composed of line segments is judged, if the section data is not composed of line segments, the section data is composed of points, namely point data, and the point data is subjected to duplication elimination according to a point data duplication elimination processing method, so that first target operation data is generated. If the segment data is composed of line segments, and the segment data can be subjected to de-duplication processing according to an array de-duplication processing method of the line segments, so that second target operation data is obtained.
Specifically, since the segment data composed of points and the segment data composed of segments are different in the deduplication processing method, the segment data composed of points may perform the deduplication processing steps of steps S41 to S43, and the segment data composed of segments may perform the deduplication processing steps of steps S51 to S513.
Optionally, step S33 includes the following steps S41-S43:
s41, judging whether the data identical to the point data exists in the residual section data in the preset non-flight forbidden special section database or whether the line segment array corresponding to the residual section data contains the point data;
s42, if yes, judging that the point data has repeated data, and eliminating the point data;
s43, if not, reserving point data, and generating first target job data.
It should be noted that, the segment array of each segment data is stored in the preset non-fly forbidden special segment database, and all segment arrays are collected, namely, the segment set.
In the implementation, a certain point data is extracted from a preset non-flight disabled special section database, whether the remaining section data in the preset non-flight disabled special section database has the same data as the point data or whether a certain line segment array contains the point data is judged, if the section data has the same data as the point data or the line segment array contains the point data, the point data can be removed, otherwise, the point data is reserved, and the first target operation data is obtained.
Specifically, for example, the point data is denoted as [1], each segment array existing in the segment set is [1,1-3,5-6], that is, the segment set has the same data as the point data [1], and the segment array [1-3] contains the point data [1], so that the point data [1] can be removed, and the remaining data set after removal is [1-3,5-6].
Optionally, step S34 includes the following steps S51-S513:
s51, obtaining a section array corresponding to section data;
s52, extracting a line segment array corresponding to the rest section data in a preset non-flight forbidden special section database to generate a section set;
s53, judging whether the minimum value of the section array is equal to the minimum value of the line segment array corresponding to the section set;
s54, if the minimum value of the section array is equal to the minimum value of the line segment array, judging whether the maximum value of the section array is equal to the maximum value of the line segment array;
s55, if the maximum value of the section array is equal to the maximum value of the line segment array, the section data is reserved, the line segment array is removed, and second target operation data are generated;
s56, if the minimum value of the section array is not equal to the minimum value of the line segment array, judging whether the minimum value of the section array is larger than the minimum value of the line segment array and smaller than the maximum value of the line segment array;
S57, if the minimum value of the section array is larger than the minimum value of the line segment array and smaller than the maximum value of the line segment array, judging whether the maximum value of the section array is smaller than or equal to the maximum value of the line segment data;
s58, if the maximum value of the section array is smaller than or equal to the maximum value of the line segment array, eliminating the section array, reserving the line segment array, and generating second target operation data;
s59, if the maximum value of the section array is larger than the maximum value of the line segment array, eliminating the section data and the line segment array, and generating second target operation data by adopting the minimum value of the line segment array and the maximum value of the section array;
s510, if the minimum value of the section array is smaller than the minimum value of the line segment array, comparing the maximum value of the section array with the minimum value of the line segment array;
s511, if the maximum value of the section array is smaller than the minimum value of the line segment array, judging that the numerical value of the section array is not overlapped with the numerical value of the line segment array, reserving the section array, and generating second target operation data;
s512, if the maximum value of the section array is equal to the minimum value of the line segment array, adopting a value between the minimum value of the section array and the maximum value of the line segment value to generate second target operation data;
S513, if the maximum value of the segment array is greater than the minimum value of the segment array and equal to the maximum value of the segment array, the segment array is reserved, and the second target operation data is generated.
It should be noted that the segment set refers to a set of segment arrays storing each segment data in a preset non-fly forbidden special segment database.
In specific implementation, a certain section data composed of line segments is selected from a preset non-flight forbidden special section database, and the judging method for whether the section data composed of line segments has repeated data includes the following steps:
firstly, judging whether the minimum value of a section array of the section data is equal to the minimum value of each section array in the section set, if the minimum value of a section array or a plurality of section arrays is equal to the minimum value of the section array, judging whether the maximum value of the section array is equal to the maximum value of the section array or the maximum value of other section arrays, if the maximum values are equal, indicating that the section array has the same data as the section array in the section set, and removing the section array.
Specifically, for example, the segment array is [2-3], the plurality of segment arrays of the segment set are [2-3,2-4], the segment array [2-3] is removed, the second target job data obtained after processing is [2-3,2-4], and if the plurality of segment arrays of the segment set are [2-3,2-3], the segment array [2-3] and one of the segment arrays [2-3] in the segment set are removed, i.e., the second target job data obtained after processing is [2-3].
Second, if the minimum value of the segment array is determined to be greater than the minimum value of each segment array in the segment set and less than the maximum value of each segment array, the maximum value of the segment array is compared with the maximum value of other segment arrays.
Specifically, for example, if the segment array is [2-3], and the segment array of the segment set is [1-3], segment data [2-3] is removed, and the second target job data obtained after processing is [1-3]; if the segment array is [2-4], and the segment array of the segment set is [2-4,3-5], eliminating the segment data [2-4] and the segment data [3-5], and obtaining second target operation data [2-5] after processing.
Third, if it is determined that the minimum value of the segment array is smaller than the minimum value of the segment array, comparing the maximum value of the segment array with the minimum value of each segment array in the segment set, wherein the maximum value of the segment array is larger than the minimum value of each segment array in the segment set, the maximum value of the segment array is equal to the minimum value of each segment array in the segment set, and the maximum value of the segment array is smaller than the minimum value of each segment array in the segment set.
Specifically, for example, if the segment array is [2-6], and the segment array of the segment set is [5-6], it is determined that the segment array and the segment array of the segment set have the same value and do not overlap, and the segment array may be reserved, and the second target operation data obtained after processing is [2-4,5-6].
If the segment array is [2-4], and the segment array of the segment set is [4-5], eliminating the segment array and the segment array, generating a new segment array by adopting the minimum value of the segment array and the maximum value of the segment array, and processing to obtain second target operation data of [2-5].
If the segment array is [2-4], the segment array of the segment set is [3-4], the segment array [2-4] is reserved, and the second target operation data obtained after processing is [2-4].
Step 207, generating a laser operation planning list by adopting a preset line responsibility people library, a preset line importance library, a preset development time section and target operation data.
In the embodiment of the present invention, the implementation process of step 207 is similar to that of step 105, and will not be repeated here.
According to the invention, the data are automatically arranged through an algorithm, the arrangement of all plans can be completed within 5 minutes, the accuracy rate can reach 100%, the arrangement efficiency of the plans is greatly improved, and the accuracy of the data is ensured.
Referring to fig. 7, fig. 7 is a block diagram illustrating a layout system of a laser operation plan of an unmanned aerial vehicle according to a third embodiment of the present invention.
The invention provides a laser operation plan arrangement system of an unmanned aerial vehicle, which is applied to a laser operation plan arrangement device, and comprises the following steps:
the line protection special section library module 701 is configured to respond to a laser operation planning request, and obtain a line protection special section library corresponding to the laser operation planning request;
the update operation data module 702 is configured to extract initial operation data of each line and each team from the line protection special section library, and select a line out of the helicopter operation range in the initial operation data to generate update operation data;
a judging result module 703, configured to judge whether the section data corresponding to the line corresponding to the update operation data is in the no-fly range, and generate a judging result;
the target operation data module 704 is configured to perform array deduplication processing on a segment array corresponding to the segment data based on the determination result, and generate target operation data;
the laser operation scheduling table module 705 is configured to generate a laser operation scheduling table by using a preset line responsibility people library, a preset line importance library, a preset development time section and target operation data.
Optionally, the update job data module 702 includes:
the initial operation data sub-module is used for extracting each line and each team from the line protection special section library to generate initial operation data;
the helicopter operation submodule is used for judging whether a line corresponding to initial operation data is out of a helicopter operation range corresponding to the preset helicopter operation line library based on the preset helicopter operation line library;
a line eliminating sub-module for eliminating the line if not;
and the update job data sub-module is used for counting a plurality of lines if yes, and generating update job data.
Optionally, the judgment result module 703 includes:
the flight forbidden range submodule is used for judging whether section data corresponding to a line corresponding to the updated operation data are in a flight forbidden range or not;
the special section forbidden database submodule is used for storing the line into a preset special section forbidden database if yes;
and the non-flight-forbidden special section database submodule is used for storing the line into a preset non-flight-forbidden special section database if not.
Optionally, the forbidden coverage submodule includes:
the extraction sub-module is used for extracting section data corresponding to the line corresponding to the update operation data;
The line section coordinate submodule is used for acquiring the coordinates of section data from a preset line tower coordinate base and generating line section coordinates;
and the no-fly zone boundary data sub-module is used for judging whether the coordinates of the line section are in a no-fly range corresponding to the boundary data of the preset airport no-fly zone by adopting an included angle and coordinate position judging method.
Optionally, the target job data module 704 includes:
the sub-module not in the no-flight range is used for extracting the section data corresponding to the line from a preset non-no-flight special section database when the section data is not in the no-flight range as a judgment result;
the section data sub-module is used for judging whether the section data is composed of line segments or not;
the point sub-module is used for judging that the section data consists of points if not, generating point data, performing array duplicate removal processing on the point data, and generating first target operation data;
and the line segment sub-module is used for judging that the section data consists of line segments and performing array de-duplication processing on the section array corresponding to the section data to generate second target operation data if the section data consists of line segments.
Optionally, the point sub-module includes:
the point data sub-module is used for judging whether the data identical to the point data exists in the residual section data in the preset non-forbidden special section database or whether the line segment array corresponding to the residual section data contains the point data;
The point data eliminating sub-module is used for judging that repeated data exists in the point data if yes, and eliminating the point data;
and the first target job data sub-module is used for reserving point data if not, and generating first target job data.
Optionally, the line segment submodule includes:
the acquisition sub-module is used for acquiring a section array corresponding to the section data;
the section set submodule is used for extracting a line segment array corresponding to the residual section data in the preset non-flight forbidden special section database and generating a section set;
the minimum value equality sub-module is used for judging whether the minimum value of the section array is equal to the minimum value of the line segment array corresponding to the section set;
the maximum value equality sub-module is used for judging whether the maximum value of the section array is equal to the maximum value of the line segment array if the minimum value of the section array is equal to the minimum value of the line segment array;
the first target operation data sub-module is used for reserving the section data and eliminating the line segment array if the maximum value of the section array is equal to the maximum value of the line segment array, so as to generate second target operation data;
the minimum value unequal submodule is used for judging whether the minimum value of the section array is larger than the minimum value of the line array and smaller than the maximum value of the line array if the minimum value of the section array is judged to be unequal to the minimum value of the line array;
The first judging submodule is used for judging whether the maximum value of the section array is smaller than or equal to the maximum value of the line segment data if the minimum value of the section array is larger than the minimum value of the line segment array and smaller than the maximum value of the line segment array;
the second target operation data sub-module is used for eliminating the segment array and reserving the segment array if the maximum value of the segment array is smaller than or equal to the maximum value of the segment array, so as to generate second target operation data;
the third second target operation data sub-module is used for eliminating the segment data and the segment array if the maximum value of the segment array is larger than the maximum value of the segment array, and generating second target operation data by adopting the minimum value of the segment array and the maximum value of the segment array;
the comparing sub-module is used for comparing the maximum value of the section array with the minimum value of the line segment array if the minimum value of the section array is smaller than the minimum value of the line segment array;
a fourth second target operation data sub-module, configured to determine that the value of the segment array is not overlapped with the value of the segment array if the maximum value of the segment array is smaller than the minimum value of the segment array, and reserve the segment array to generate second target operation data;
A fifth second target operation data sub-module, configured to generate second target operation data by using a value between the minimum value of the segment array and the maximum value of the segment value if the maximum value of the segment array is equal to the minimum value of the segment array;
and the sixth second target operation data sub-module is used for reserving the segment array and generating second target operation data if the maximum value of the segment array is larger than the minimum value of the segment array and equal to the maximum value of the segment array.
An electronic device provided in a fourth embodiment of the present invention includes a memory and a processor, where the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method for scheduling a laser operation plan of an unmanned aerial vehicle according to any one of the above embodiments.
A fifth embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, where the computer program when executed implements the method for scheduling a laser operation plan of an unmanned aerial vehicle according to any one of the above embodiments.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A method for scheduling laser operation plans of an unmanned aerial vehicle, which is applied to a laser operation plan scheduler of the unmanned aerial vehicle, the method comprising:
responding to a laser operation planning request, and acquiring a line protection special section library corresponding to the laser operation planning request;
extracting initial operation data of each line and each team from the line protection special section library, selecting lines which are out of the helicopter operation range in the initial operation data, and generating updated operation data;
judging whether section data corresponding to a line corresponding to the update operation data is in a forbidden flight range or not, and generating a judging result;
performing array de-duplication processing on the section array corresponding to the section data based on the judging result to generate target operation data; the step of performing array de-duplication processing on the segment array corresponding to the segment data based on the judging result to generate target operation data includes:
when the judging result is that the section data is not in the forbidden flight range, extracting the section data from a preset non-forbidden flight special section database;
judging whether the section data is composed of line segments or not;
If not, judging that the section data consists of points, generating point data, and performing array de-duplication processing on the point data to generate first target operation data;
if yes, judging that the section data consists of line segments, and performing array de-duplication processing on a section array corresponding to the section data to generate second target operation data; the step of performing array de-duplication processing on the segment array corresponding to the segment data to generate second target operation data includes:
acquiring a section array corresponding to the section data;
extracting a line segment array corresponding to the rest section data in the preset non-flight forbidden special section database to generate a section set;
judging whether the minimum value of the section array is equal to the minimum value of the line segment array corresponding to the section set;
if the minimum value of the section array is equal to the minimum value of the line segment array, judging whether the maximum value of the section array is equal to the maximum value of the line segment array;
if the maximum value of the section array is equal to the maximum value of the line segment array, the section data is reserved, the line segment array is removed, and second target operation data are generated;
If the minimum value of the section array is not equal to the minimum value of the line segment array, judging whether the minimum value of the section array is larger than the minimum value of the line segment array and smaller than the maximum value of the line segment array;
if the minimum value of the section array is larger than the minimum value of the line segment array and smaller than the maximum value of the line segment array, judging whether the maximum value of the section array is smaller than or equal to the maximum value of the line segment array;
if the maximum value of the section array is smaller than or equal to the maximum value of the line segment array, eliminating the section array, reserving the line segment array, and generating second target operation data;
if the maximum value of the section array is judged to be larger than the maximum value of the line segment array, eliminating the section data and the line segment array, and generating second target operation data by adopting the minimum value of the line segment array and the maximum value of the section array;
if the minimum value of the section array is smaller than the minimum value of the line segment array, comparing the maximum value of the section array with the minimum value of the line segment array;
if the maximum value of the section array is smaller than the minimum value of the line segment array, judging that the numerical value of the section array is not overlapped with the numerical value of the line segment array, reserving the section array, and generating second target operation data;
If the maximum value of the section array is equal to the minimum value of the line segment array, generating second target operation data by adopting a value between the minimum value of the section array and the maximum value of the line segment array;
if the maximum value of the section array is larger than the minimum value of the line segment array and is equal to the maximum value of the line segment array, reserving the section array, and generating second target operation data;
and generating a laser operation planning list by adopting a preset line responsibility person library, a preset line importance library, a preset development time section, the first target operation data and the second target operation data.
2. The method for planning laser operation planning of unmanned aerial vehicle according to claim 1, wherein the step of extracting initial operation data of each line and each team from the line protection special section library, and selecting a line out of a helicopter operation range in the initial operation data, and generating updated operation data comprises the steps of:
extracting each line and each team from the line protection special section library to generate initial operation data;
judging whether a line corresponding to the initial operation data is out of a helicopter operation range corresponding to a preset helicopter operation line library based on the preset helicopter operation line library;
If not, rejecting the circuit;
if yes, counting a plurality of lines to generate update operation data.
3. The method for arranging a laser operation plan of an unmanned aerial vehicle according to claim 1, wherein the step of determining whether the section data corresponding to the line corresponding to the updated operation data is in a disabled range, and generating a determination result, comprises:
judging whether section data corresponding to a line corresponding to the update operation data is in a forbidden flight range or not;
if yes, storing the line into a preset special section forbidden database;
if not, storing the line into a preset non-flight forbidden special section database.
4. The unmanned aerial vehicle laser working plan scheduling method of claim 3, wherein the step of determining whether the section data corresponding to the line corresponding to the updated working data is in a forbidden flight range comprises:
extracting section data corresponding to a line corresponding to the update operation data;
acquiring coordinates of the section data from a preset line pole tower coordinate library, and generating line section coordinates;
and judging whether the coordinates of the line section are in a forbidden range corresponding to the boundary data of the forbidden zone of the preset airport by adopting an included angle and coordinate position judging method.
5. The method of scheduling a laser operation plan for an unmanned aerial vehicle according to claim 1, wherein the step of performing array deduplication processing on the point data to generate first target operation data comprises:
judging whether the data identical to the point data exists in the rest section data in the preset non-fly forbidden special section database or whether the line segment array corresponding to the rest section data contains the point data or not;
if yes, judging that the point data has repeated data, and eliminating the point data;
if not, the point data is reserved, and first target job data is generated.
6. A laser work plan orchestration system for an unmanned aerial vehicle, for use in a laser work plan orchestrator, the system comprising:
the line protection special section library module is used for responding to a laser operation planning request and acquiring a line protection special section library corresponding to the laser operation planning request;
the updating operation data module is used for extracting initial operation data of each line and each team from the line protection special section library, selecting lines which are out of the helicopter operation range in the initial operation data and generating updating operation data;
The judging result module is used for judging whether the section data corresponding to the line corresponding to the updating operation data is in a forbidden flight range or not and generating a judging result;
the target operation data module is used for carrying out array de-duplication processing on the section array corresponding to the section data based on the judging result to generate target operation data; wherein the target job data module includes:
the sub-module not in the no-flight range is used for extracting the section data corresponding to the line from a preset non-no-flight special section database when the section data is not in the no-flight range as a judgment result;
the section data sub-module is used for judging whether the section data is composed of line segments or not;
the point sub-module is used for judging that the section data consists of points if not, generating point data, performing array duplicate removal processing on the point data, and generating first target operation data;
the line segment sub-module is used for judging that the section data consists of line segments and performing array de-duplication processing on a section array corresponding to the section data if the section data consists of line segments, so as to generate second target operation data; wherein, the line segment submodule includes:
the acquisition sub-module is used for acquiring a section array corresponding to the section data;
The section set submodule is used for extracting a line segment array corresponding to the residual section data in the preset non-flight forbidden special section database and generating a section set;
the minimum value equality sub-module is used for judging whether the minimum value of the section array is equal to the minimum value of the line segment array corresponding to the section set;
the maximum value equality sub-module is used for judging whether the maximum value of the section array is equal to the maximum value of the line segment array if the minimum value of the section array is equal to the minimum value of the line segment array;
the first target operation data sub-module is used for reserving the section data and eliminating the line segment array if the maximum value of the section array is equal to the maximum value of the line segment array, so as to generate second target operation data;
the minimum value unequal submodule is used for judging whether the minimum value of the section array is larger than the minimum value of the line array and smaller than the maximum value of the line array if the minimum value of the section array is judged to be unequal to the minimum value of the line array;
the first judging submodule is used for judging whether the maximum value of the section array is smaller than or equal to the maximum value of the line array if the minimum value of the section array is larger than the minimum value of the line array and smaller than the maximum value of the line array;
The second target operation data sub-module is used for eliminating the segment array and reserving the segment array if the maximum value of the segment array is smaller than or equal to the maximum value of the segment array, so as to generate second target operation data;
the third second target operation data sub-module is used for eliminating the segment data and the segment array if the maximum value of the segment array is larger than the maximum value of the segment array, and generating second target operation data by adopting the minimum value of the segment array and the maximum value of the segment array;
the comparing sub-module is used for comparing the maximum value of the section array with the minimum value of the line segment array if the minimum value of the section array is smaller than the minimum value of the line segment array;
a fourth second target operation data sub-module, configured to determine that the value of the segment array is not overlapped with the value of the segment array if the maximum value of the segment array is smaller than the minimum value of the segment array, and reserve the segment array to generate second target operation data;
a fifth second target operation data sub-module, configured to generate second target operation data by using a value between the minimum value of the segment array and the maximum value of the segment array if the maximum value of the segment array is equal to the minimum value of the segment array;
A sixth second target operation data sub-module, configured to reserve the segment array if the maximum value of the segment array is greater than the minimum value of the segment array and equal to the maximum value of the segment array, and generate second target operation data;
the laser operation planning table module is used for generating a laser operation planning table by adopting a preset line responsibility person library, a preset line importance library, a preset development time section, the first target operation data and the second target operation data.
7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the steps of the unmanned aerial vehicle laser work planning method of any of claims 1-5.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed, implements the method of scheduling laser operation plans of a drone according to any one of claims 1-5.
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