CN116700339A - Unmanned aerial vehicle countercheck method, system, device and equipment - Google Patents

Abstract

The application relates to a method, a system, a device and equipment for checking unmanned aerial vehicle countercheck, wherein the method comprises the steps of obtaining a check instruction and a check task of a station authorized unmanned aerial vehicle, controlling the authorized unmanned aerial vehicle to execute according to the corresponding check task according to the check instruction, and obtaining first detection information and time information of an execution task in real time; if the first detection information is the detection information of the unauthorized unmanned aerial vehicle, determining a return mission of the authorized unmanned aerial vehicle according to the time information and acquiring the return information of the authorized unmanned aerial vehicle; controlling a time service protection module and a reverse module of the station to operate according to the return information and acquiring second detection information; and determining the fly-away journey of the authorized unmanned aerial vehicle according to the second detection information and the return information. According to the method, the return mission of the authorized unmanned aerial vehicle interfered by the unauthorized unmanned aerial vehicle is determined through the time information obtained in real time, the patrol mission is continuously completed according to the fly-away journey after the interference is eliminated, and the patrol efficiency is improved.

Description

Unmanned aerial vehicle countercheck method, system, device and equipment

Technical Field

The application relates to the technical field of intelligent inspection of power systems, in particular to an inspection method, system, device and equipment for unmanned aerial vehicle countering.

Background

In recent years, the related technology and various applications of the micro unmanned aerial vehicle are rapidly developed, and the micro unmanned aerial vehicle is widely applied to the fields of electric power inspection, public security law enforcement, large-scale activity monitoring inspection, and the like. However, widespread use of micro-unmanned aerial vehicles is accompanied by a number of safety issues. The black flying unmanned aerial vehicle breaks into the inspection area, so that the authorized unmanned aerial vehicle in the inspection area can possibly have actions of suspending, even stopping, colliding with the unmanned aerial vehicle and the like of the inspection task, which affect the inspection efficiency and even the station safety. Accordingly, many unmanned aerial vehicle stations are beginning to be equipped with unmanned aerial vehicle countermeasures to cope with the interference of unauthorized unmanned aerial vehicles. After the unmanned aerial vehicle countering system is arranged, the original inspection mode is affected.

The existing unmanned aerial vehicle inspection mode is implemented under the condition that an unmanned aerial vehicle countercheck system is not arranged, when an unauthorized unmanned aerial vehicle invades a station, interference can be caused to the authorized unmanned aerial vehicle, the authorized unmanned aerial vehicle can possibly generate false actions such as yaw, emergency steering, hovering and the like, and serious people can crash the unmanned aerial vehicle to crash, so that dangerous accidents such as explosion and fire of station facilities are caused. The manual control unmanned aerial vehicle's inspection mode, training cost is high, and personnel training time is long, and is higher to personnel's quality requirement, and the data arrangement is classified the degree of difficulty simultaneously and is unfavorable for the management. A station equipped with an unmanned aerial vehicle countering system carries out a method for normally opening the unmanned aerial vehicle countering system, an authorized unmanned aerial vehicle in a patrol area depends on a time service protection device, so that time service deviation exists, and the positioning accuracy of the authorized unmanned aerial vehicle is reduced.

Disclosure of Invention

The embodiment of the application provides a method, a system, a device and equipment for inspecting unmanned aerial vehicle countering, which are used for solving the technical problem of low inspection efficiency caused by low automation degree of an existing inspection mode with an unmanned aerial vehicle countering system.

In order to achieve the above object, the embodiment of the present application provides the following technical solutions:

an unmanned aerial vehicle countercheck inspection method comprises the following steps:

acquiring a patrol instruction of a station authorized unmanned aerial vehicle and patrol tasks of each authorized unmanned aerial vehicle, controlling the authorized unmanned aerial vehicle to execute according to the corresponding patrol tasks according to the patrol instruction, and acquiring first detection information and time information of a task executing process in real time;

if the first detection information is the detection information of the unauthorized unmanned aerial vehicle, determining a return mission of the authorized unmanned aerial vehicle according to the time information and acquiring the return information of the authorized unmanned aerial vehicle;

controlling a time service protection module and a reverse module of the station to operate according to the return information and acquiring second detection information;

determining the fly-away journey of the authorized unmanned aerial vehicle according to the second detection information and the return information;

the time service protection module is used for protecting the authorized unmanned aerial vehicle from being interfered by the countering module, and the countering module is used for sending a decoy signal to drive the unauthorized unmanned aerial vehicle, so that the unauthorized unmanned aerial vehicle is far away from the area of the inspection task.

Preferably, the time information includes a first remaining time for authorizing the unmanned aerial vehicle to execute task cruising, a return time and a second remaining time for completing the current task, and determining the return task of the unmanned aerial vehicle according to the time information includes:

acquiring a task type of authorizing the unmanned aerial vehicle to execute the inspection task;

if the task type is that the authorized unmanned aerial vehicle executes data acquisition at a task point of the inspection task, comparing the first residual time with the return time, and determining a first time;

selecting the time threshold value with the largest value from the first time of all authorized unmanned aerial vehicles of the station;

calculating according to the return time and the second residual time to obtain a second time; and comparing the second time with the time threshold value to determine a return mission of the authorized unmanned aerial vehicle.

Preferably, comparing the second time with the time threshold value to determine a return mission of the authorized drone includes:

if the second time is smaller than the time threshold, the return mission is a nest for authorizing the unmanned aerial vehicle to return to the station after finishing the corresponding inspection mission;

and if the second time is greater than the time threshold, the return task is the nest which returns to the station immediately.

Preferably, determining the return mission of the authorized unmanned aerial vehicle according to the time information includes:

if the task type is that the authorized unmanned aerial vehicle does not execute data acquisition at a task point of the inspection task, determining a return task of the authorized unmanned aerial vehicle according to comparison between the first residual time and the return time;

if the first remaining time is smaller than the return time, the return task is a nest for authorizing the unmanned aerial vehicle to return to the station after finishing the corresponding inspection task; and if the first remaining time is greater than the return time, the return task is a nest which returns to the station immediately.

Preferably, determining the missed approach distance of the authorized unmanned aerial vehicle according to the second detection information and the return information includes:

if the second detection information is the detection information of the unauthorized unmanned aerial vehicle in a certain time, controlling the authorized unmanned aerial vehicle to restart the fly-away journey of the execution task;

after the authorized unmanned aerial vehicle restarts to execute the task, if the return information is return after the authorized unmanned aerial vehicle completes the task of the current task point, the fly-away journey is the next task point of the inspection task;

if the return information is that the authorized unmanned aerial vehicle returns after not finishing the task of the current task point, the fly-away journey is the current task point of the inspection task;

and if the return information is that the unmanned aerial vehicle is authorized to return to the next task point, the fly-away journey is the next task point of the inspection task.

Preferably, the inspection method for countering the unmanned aerial vehicle comprises the following steps: and returning after the authorized unmanned aerial vehicle completes the task of the current task point according to the return information, wherein the current task point is the last task point of the inspection task, and the authorized unmanned aerial vehicle completes the inspection task.

The application also provides a patrol system for the unmanned aerial vehicle reaction, which comprises a machine nest, a detection module, a time service protection module, a reaction module, an authorized unmanned aerial vehicle and a patrol control module which are arranged on the station, wherein the patrol control module is used for controlling the authorized unmanned aerial vehicle to operate according to the patrol method for the unmanned aerial vehicle reaction according to the information fed back by the detection module, the time service protection module and the reaction module.

The application also provides a inspection device for the unmanned aerial vehicle, which comprises a first data acquisition module, a first execution task module, a second data acquisition module and a second execution task module;

the first data acquisition module is used for acquiring a patrol instruction of the station authorized unmanned aerial vehicle and patrol tasks of each authorized unmanned aerial vehicle, and controlling the authorized unmanned aerial vehicle to execute according to the corresponding patrol tasks according to the patrol instruction and acquiring first detection information and time information of a task executing process in real time;

the first execution task module is used for determining a return task of the authorized unmanned aerial vehicle according to the time information and acquiring return information of the authorized unmanned aerial vehicle according to the detection information of the unauthorized unmanned aerial vehicle;

the second data acquisition module is used for controlling the time service protection module and the reverse module of the station to operate according to the return information and acquiring second detection information;

the second execution task module is used for determining the fly-away journey of the authorized unmanned aerial vehicle according to the second detection information and the return information;

the time service protection module is used for protecting the authorized unmanned aerial vehicle from being interfered by the countering module, and the countering module is used for sending a decoy signal to drive the unauthorized unmanned aerial vehicle, so that the unauthorized unmanned aerial vehicle is far away from the area of the inspection task.

Preferably, the time information comprises a first remaining time for authorizing the unmanned aerial vehicle to execute task cruising, a return time and a second remaining time for completing the current task, and the first task executing module is further used for acquiring a task type for authorizing the unmanned aerial vehicle to execute the patrol task; according to the task type, the authorized unmanned aerial vehicle performs data acquisition at a task point of a patrol task, the first residual time is compared with the return time, and the first time is determined; selecting the first time with the largest value from all authorized unmanned aerial vehicles of the station as a time threshold, and calculating according to the return time and the second residual time to obtain a second time; comparing the second time with the time threshold value to determine a return mission of the authorized unmanned aerial vehicle; or according to the task type, the authorized unmanned aerial vehicle does not execute data acquisition at the task point of the inspection task, and according to the comparison of the first residual time and the return time, the return task of the authorized unmanned aerial vehicle is determined.

The application also provides a terminal device, which comprises a processor and a memory;

the memory is used for storing program codes and transmitting the program codes to the processor;

and the processor is used for executing the inspection method for the unmanned aerial vehicle according to the instructions in the program codes.

From the above technical solutions, the embodiment of the present application has the following advantages: the method comprises the steps of obtaining a patrol instruction of a station authorized unmanned aerial vehicle and patrol tasks of each authorized unmanned aerial vehicle, controlling the authorized unmanned aerial vehicle to execute according to the corresponding patrol tasks according to the patrol instruction, and obtaining first detection information and time information of a task executing process in real time; if the first detection information is the detection information of the unauthorized unmanned aerial vehicle, determining a return mission of the authorized unmanned aerial vehicle according to the time information and acquiring the return information of the authorized unmanned aerial vehicle; controlling a time service protection module and a reverse module of the station to operate according to the return information and acquiring second detection information; and determining whether the authorized unmanned aerial vehicle continues to execute the corresponding inspection task according to the second detection information and the return information. According to the inspection method for the unmanned aerial vehicle, the authorized unmanned aerial vehicle is determined to be subjected to the navigation task after being interfered by the unauthorized unmanned aerial vehicle through the time information acquired in real time, the inspection task is continuously completed according to the fly-away stroke after interference is eliminated, the influence caused by the reverse manufacturing of the authorized unmanned aerial vehicle is reduced to the greatest extent, the inspection efficiency is improved, the time service deviation of the authorized unmanned aerial vehicle and other equipment needing time service in a station is avoided, and the technical problem that the inspection efficiency is low due to the fact that the automation degree of the inspection mode of the existing unmanned aerial vehicle reverse system is low is solved.

Drawings

In order to more clearly illustrate the embodiments of the application 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 application, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

Fig. 1 is a flow chart of steps of a method for inspecting unmanned aerial vehicle countermeasures according to an embodiment of the application;

fig. 2 is a frame diagram of an inspection apparatus for unmanned aerial vehicle reaction according to an embodiment of the present application.

Detailed Description

In order to make the objects, features and advantages of the present application more comprehensible, the technical solutions in the embodiments of the present application 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 application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Interpretation of patent terms:

station: and the control area is responsible for supplying and guaranteeing materials such as aviation equipment, oil, ammunition, gas, power supply and the like required by combat and training, and organizing and implementing the guarantees such as flight control, communication, navigation, weather, transportation and the like.

Authorized drones: the intelligent inspection system is characterized in that an unmanned aerial vehicle is arranged in a station, and the intelligent inspection system has an intelligent inspection function.

Unauthorized unmanned aerial vehicle: refers to the existence of unmanned aerial vehicle at non-stations, which may interfere with the normal operation of stations.

Time service: the astronomical station reports the most accurate time with a radio signal.

The embodiment of the application provides a method, a system, a device and equipment for inspecting unmanned aerial vehicle countering, which are combined with unmanned aerial vehicle countering equipment to reduce the influence of the countering equipment on unmanned aerial vehicle inspection efficiency, and are used for solving the technical problem of low inspection efficiency caused by low automation degree of an existing inspection mode with an unmanned aerial vehicle countering system.

Embodiment one:

fig. 1 is a flow chart of steps of a method for checking a reverse operation of an unmanned aerial vehicle according to an embodiment of the present application.

As shown in fig. 1, the embodiment of the application provides a method for inspecting unmanned aerial vehicle countermeasures, which is applied to an inspection system for inspecting unmanned aerial vehicle countermeasures, wherein the inspection system for inspecting unmanned aerial vehicle countermeasures comprises a nest, a detection module, a time service protection module, a countermeasures module, an authorized unmanned aerial vehicle and an inspection control module, and the inspection control module is used for controlling the authorized unmanned aerial vehicle to operate according to the inspection method for inspecting unmanned aerial vehicle countermeasures according to information fed back by the detection module, the time service protection module and the countermeasures module.

In the embodiment of the application, the detection module, the time service protection module and the reverse module are respectively arranged on different devices. The detection module is used for detecting the direction of the unauthorized unmanned aerial vehicle. The reverse module is used for sending a directional decoy signal according to the direction detected by the detection module to drive the unauthorized unmanned aerial vehicle, so that the unauthorized unmanned aerial vehicle is far away from the station inspection range or the unauthorized unmanned aerial vehicle is far away from the area of the inspection task of the authorized unmanned aerial vehicle. The time service protection module is used for protecting time service equipment in the station from being influenced or interfered by the decoy signal of the countering module.

It should be noted that, because the navigation decoy signal sent by the countering module may affect the time service accuracy of other devices in the station, the time service protection module needs to be used to protect the devices in the station that need time service from the countering device.

In the embodiment of the application, the detection module comprises an audio, video and radio frequency information acquisition sensor, and adopts a heterogeneous multi-sensor information fusion technology to realize detection, positioning and identification technologies based on the audio, video and radio frequency of the authorized unmanned aerial vehicle.

In the embodiment of the application, the inspection control module integrates a heterogeneous multi-sensor information fusion algorithm, the number, the attribute and the position of the authorized unmanned aerial vehicle in the inspection area can be fed back in real time according to the signals received by each sensor of the detection module, and when the unauthorized unmanned aerial vehicle is detected, the alarm can be given out timely. The inspection control module can normally issue inspection tasks and inspection instructions, can regulate and control the unmanned aerial vehicle in the station to execute the flight of a specified route and take pictures, and can monitor the working condition of the unmanned aerial vehicle in real time in a video mode.

It should be noted that the inspection control module is also responsible for scheduling, switching, status information integration and display of all hardware.

In the embodiment of the application, the aircraft nest is used for receiving the inspection instruction and controlling the authorized unmanned aerial vehicle to fly out of the aircraft nest to execute tasks according to the inspection tasks. Before the unmanned aerial vehicle is authorized to take off, the inspection control module controls the unmanned aerial vehicle to start and checks whether the conditions of the RTK, the network, the electric quantity and the like of the unmanned aerial vehicle meet the completion task. If not, returning the unsatisfied condition to the inspection control module. If the requirement is met, the aircraft nest is opened, the unmanned aerial vehicle is authorized to prepare for take-off, and the unmanned aerial vehicle is authorized and receives the planned route and the task point of the patrol task transmitted by the patrol control module.

After the loading of the route of the inspection task of the unmanned aerial vehicle is completed, the unmanned aerial vehicle is authorized to take off, the unmanned aerial vehicle starts to fly according to the route of the inspection task, stops for three seconds at the task point, completes the inspection task of shooting photos within three seconds, and transmits the photos to the inspection control module in real time.

The inspection method for the unmanned aerial vehicle reaction comprises the following steps:

s1, acquiring a patrol instruction of a station authorized unmanned aerial vehicle and patrol tasks of each authorized unmanned aerial vehicle, controlling the authorized unmanned aerial vehicle to execute according to the corresponding patrol tasks according to the patrol instruction, and acquiring first detection information and time information in a task executing process in real time. The time information comprises a first remaining time for authorizing the unmanned aerial vehicle to execute task cruising, a return time and a second remaining time for completing the current task.

In the step S1, data is acquired, firstly, a patrol instruction and a patrol task before authorizing the unmanned aerial vehicle to execute the task are acquired; and secondly, acquiring time information of the unmanned aerial vehicle in the task execution process, wherein the time information comprises first residual time of the unmanned aerial vehicle for completing the inspection task, time of the unmanned aerial vehicle for returning to the aircraft nest from the current position is recorded as return time, and time required by the unmanned aerial vehicle for completing the task point at the current task point is recorded as second residual time. In this embodiment, the time is calculated according to the flight speed of the authorized unmanned aerial vehicle and the navigation length of the inspection task, i.e. the remaining time=the remaining route length +..

S2, if the first detection information is the detection information of the unauthorized unmanned aerial vehicle, determining a return mission of the authorized unmanned aerial vehicle according to the time information and acquiring the return information of the authorized unmanned aerial vehicle.

In step S2, when the first detection information detected by the detection module is that there is an unauthorized unmanned aerial vehicle in the area where the authorized unmanned aerial vehicle performs the inspection task, the operation of returning the authorized unmanned aerial vehicle to the aircraft nest is determined according to the time information obtained in real time, the information of returning the authorized unmanned aerial vehicle to the current execution task is obtained, and the information is recorded as return information.

S3, controlling the time service protection module and the reverse module of the station to operate according to the return information and acquiring second detection information. The time service protection module is used for protecting the authorized unmanned aerial vehicle from being interfered by the countering module, and the countering module is used for sending a decoy signal to drive the unauthorized unmanned aerial vehicle, so that the unauthorized unmanned aerial vehicle is far away from the area of the inspection task.

In step S3, the authorized unmanned aerial vehicle according to the return information returns to the aircraft nest, all the authorized unmanned aerial vehicles in the aircraft nest are determined to return to the aircraft nest, the time service protection module and the reverse module on the station are controlled to be started, and the second detection information is obtained through the detection module.

S4, determining the fly-away journey of the authorized unmanned aerial vehicle according to the second detection information and the return information.

In step S4, according to the detection module continuously detecting whether the second detection information of the unauthorized unmanned aerial vehicle exists in the inspection area, when no unauthorized unmanned aerial vehicle enters the inspection area within 10 minutes continuously, the alarm is released, and the countercheck module and the time service protection module are closed. The inspection control module controls the authorized unmanned aerial vehicle to start the fly-away program, and automatically plans the shortest path to the task point.

In the embodiment of the application, determining whether the authorized unmanned aerial vehicle continues to execute the corresponding patrol task according to the second detection information and the return information comprises the following steps:

if the second detection information is the detection information of the unauthorized unmanned aerial vehicle in a certain time, controlling the authorized unmanned aerial vehicle to restart the fly-away journey of the execution task;

after the authorized unmanned aerial vehicle restarts to execute the task, if the return information is return after the authorized unmanned aerial vehicle completes the task of the current task point, the fly-away journey is the next task point of the inspection task;

if the return information is that the authorized unmanned aerial vehicle returns after not finishing the task of the current task point, the fly-away journey is the current task point of the inspection task;

if the return information is that the unmanned aerial vehicle is authorized to return to the next task point, the fly-away journey is the next task point of the inspection task;

and returning the unmanned aerial vehicle after completing the task of the current task point according to the return information, wherein the current task point is the last task point of the inspection task, and the unmanned aerial vehicle is authorized to complete the inspection task or select the route of other inspection tasks for inspection.

The unmanned aerial vehicle anti-control inspection method is characterized in that after the authorized unmanned aerial vehicle returns to the aircraft nest, after factor interference of the unauthorized unmanned aerial vehicle is eliminated, the authorized unmanned aerial vehicle in the aircraft nest is controlled again to continue to execute the inspection task. The method comprises the following steps: and if the authorized unmanned aerial vehicle returns after completing the current task, the flying point is the next task point. The current task point which is completed is the last task point or all task points of the authorized unmanned aerial vehicle which have completed the patrol task, and the patrol task of the route is considered to be completed when the unmanned aerial vehicle returns to the aircraft nest according to the original route planning, and other routes can be selected for patrol. And if the authorized unmanned aerial vehicle in the re-control machine nest is not finished and the current task is directly returned, the flying point is the current task point. If the authorized unmanned aerial vehicle in the nest is controlled again and is currently going to the next task point, the flying point is the next task point of the corresponding inspection task. The method for checking the unmanned aerial vehicle is characterized in that the flight path of the unmanned aerial vehicle is determined through the second detection information and the return information, the flight path is not used for restarting the checking of the route, but the navigation point of the interrupt task is recorded, the navigation point of restarting the navigation is judged, and the improvement of the checking efficiency and the full-coverage checking of the checking area are realized.

The application provides a method for checking unmanned aerial vehicle countermeasures, which comprises the steps of obtaining a checking instruction of a station authorized unmanned aerial vehicle and checking tasks of each authorized unmanned aerial vehicle, controlling the authorized unmanned aerial vehicle to execute according to the corresponding checking tasks according to the checking instruction, and obtaining first detection information and time information in a task executing process in real time; if the first detection information is the detection information of the unauthorized unmanned aerial vehicle, determining a return mission of the authorized unmanned aerial vehicle according to the time information and acquiring the return information of the authorized unmanned aerial vehicle; controlling a time service protection module and a reverse module of the station to operate according to the return information and acquiring second detection information; and determining whether the authorized unmanned aerial vehicle continues to execute the corresponding inspection task according to the second detection information and the return information. According to the inspection method for the unmanned aerial vehicle, the authorized unmanned aerial vehicle is determined to be subjected to the navigation task after being interfered by the unauthorized unmanned aerial vehicle through the time information acquired in real time, the inspection task is continuously completed according to the fly-away stroke after interference is eliminated, the influence caused by the reverse manufacturing of the authorized unmanned aerial vehicle is reduced to the greatest extent, the inspection efficiency is improved, the time service deviation of the authorized unmanned aerial vehicle and other equipment needing time service in a station is avoided, and the technical problem that the inspection efficiency is low due to the fact that the automation degree of the inspection mode of the existing unmanned aerial vehicle reverse system is low is solved.

The inspection method for the unmanned aerial vehicle countercheck can monitor the condition of the authorized unmanned aerial vehicle in the inspection area in real time through the data interaction between the inspection control module and the countercheck module, and timely find the intrusion of the unauthorized unmanned aerial vehicle. The inspection method for the unmanned aerial vehicle can enable the authorized unmanned aerial vehicle in the station to be matched with the detection module and the reverse module to autonomously complete the inspection task; the method can also realize fine judgment, finish the inspection task to the greatest extent on the basis of ensuring the authorized unmanned aerial vehicle to return to the air safely as soon as possible, and reduce the influence caused by the reverse manufacturing of the authorized unmanned aerial vehicle. The inspection method for the unmanned aerial vehicle countering can not only normally finish the daily inspection task, but also well cooperate with the countering module to finish the pause and return of the inspection task, protect the authorized unmanned aerial vehicle from being influenced by the countering module, and reduce the risks of collision and crash of the authorized unmanned aerial vehicle; and the route inspection is not needed to be started from the head through the fly-away travel, so that the inspection efficiency is improved.

In one embodiment of the application, determining a return mission for an authorized drone based on time information includes:

acquiring a task type of authorizing the unmanned aerial vehicle to execute the inspection task;

if the task type is that the authorized unmanned aerial vehicle executes data acquisition at a task point of the inspection task, comparing the first remaining time with the return time, and determining the first time;

selecting the time threshold value with the largest value from the first time of all authorized unmanned aerial vehicles of the station;

calculating according to the return time and the second residual time to obtain a second time; comparing the second time with a time threshold value to determine a return mission of the authorized unmanned aerial vehicle;

if the second time is smaller than the time threshold, the return mission is to authorize the unmanned aerial vehicle to complete the corresponding inspection mission and then return to the nest of the station; if the second time is greater than the time threshold, the return mission is to return to the nest of the station immediately.

The second time is obtained by adding the return time to the second remaining time. The data acquisition at the task point of the inspection task can be realized by shooting pictures through camera equipment on the unmanned aerial vehicle, and the camera equipment can be cameras, cameras and the like. In other embodiments, data collection of the unmanned aerial vehicle inspection task may also be achieved in other manners.

In one embodiment of the application, determining a return mission for an authorized drone based on time information includes:

if the task type is that the authorized unmanned aerial vehicle does not execute data acquisition at a task point of the inspection task, determining a return task of the authorized unmanned aerial vehicle according to comparison of the first remaining time and the return time;

if the first remaining time is smaller than the return time, the return task is to authorize the unmanned aerial vehicle to complete the corresponding inspection task and then return to the nest of the station; and if the first remaining time is greater than the return time, the return task is to return to the nest of the station immediately.

The return task is to determine which time data to compare according to the task type of the inspection task, so as to obtain the return task.

Embodiment two:

fig. 2 is a frame diagram of an inspection device for unmanned aerial vehicle countering according to an embodiment of the application.

As shown in fig. 2, an embodiment of the present application provides an inspection device for countering an unmanned aerial vehicle, including: a first data acquisition module 10, a first task execution module 20, a second data acquisition module 30, and a second task execution module 40;

the first data acquisition module 10 is used for acquiring a patrol instruction of the station authorized unmanned aerial vehicle and patrol tasks of each authorized unmanned aerial vehicle, controlling the authorized unmanned aerial vehicle to execute according to the corresponding patrol tasks according to the patrol instruction, and acquiring first detection information and time information of a task executing process in real time;

the first execution task module 20 is configured to determine a return task of the authorized unmanned aerial vehicle according to the time information and obtain return information of the authorized unmanned aerial vehicle according to the detection information of the unauthorized unmanned aerial vehicle;

the second data acquisition module 30 is used for controlling the time service protection module and the reverse module of the station to operate according to the return information and acquiring second detection information;

a second execution task module 40, configured to determine a missed approach distance of the authorized unmanned aerial vehicle according to the second detection information and the return information;

the time service protection module is used for protecting the authorized unmanned aerial vehicle from being interfered by the countering module, and the countering module is used for sending out a decoy signal to drive the unauthorized unmanned aerial vehicle, so that the unauthorized unmanned aerial vehicle is far away from the area of the inspection task.

In the embodiment of the application, the time information comprises a first residual time for authorizing the unmanned aerial vehicle to execute task cruising, a return time and a second residual time for completing the current task; the first task execution module 20 is further configured to obtain a task type that authorizes the unmanned aerial vehicle to execute the inspection task; according to the task type, the authorized unmanned aerial vehicle performs data acquisition at a task point of the inspection task, and the first residual time is compared with the return time to determine the first time; selecting the first time with the maximum value from all authorized unmanned aerial vehicles of the station as a time threshold, and calculating according to the return time and the second residual time to obtain a second time; comparing the second time with a time threshold value to determine a return mission of the authorized unmanned aerial vehicle; or according to the task type, the authorized unmanned aerial vehicle does not execute data acquisition at the task point of the inspection task, and according to the comparison of the first remaining time and the return time, the return task of the authorized unmanned aerial vehicle is determined.

It should be noted that, the module in the second device corresponds to the steps in the first method, and the content of the inspection method that is counteracted by the unmanned aerial vehicle is described in detail in the first embodiment, and the content of the module in the second device is not described in detail in the second embodiment.

Embodiment III:

the embodiment of the application provides terminal equipment, which comprises a processor and a memory;

a memory for storing program code and transmitting the program code to the processor;

and the processor is used for executing the inspection method for the unmanned aerial vehicle countering according to the instructions in the program codes.

It should be noted that the processor is configured to execute the steps in the above-described embodiments of the inspection method for unmanned aerial vehicle reaction according to the instructions in the program code. In the alternative, the processor, when executing the computer program, performs the functions of the modules/units in the system/apparatus embodiments described above.

For example, a computer program may be split into one or more modules/units, which are stored in a memory and executed by a processor to perform the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in the terminal device.

The terminal device may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The terminal device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the terminal device is not limited and may include more or less components than those illustrated, or may be combined with certain components, or different components, e.g., the terminal device may also include input and output devices, network access devices, buses, etc.

The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory may be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory may also be an external storage device of the terminal device, such as a plug-in hard disk provided on the terminal device, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like. Further, the memory may also include both an internal storage unit of the terminal device and an external storage device. The memory is used for storing computer programs and other programs and data required by the terminal device. The memory may also be used to temporarily store data that has been output or is to be output.

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 the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. 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 forms.

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 application 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 application 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 application. 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 application, and not for limiting the same; although the application 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 application.

Claims (10)

1. The inspection method for the unmanned aerial vehicle reaction is characterized by comprising the following steps of:

acquiring a patrol instruction of a station authorized unmanned aerial vehicle and patrol tasks of each authorized unmanned aerial vehicle, controlling the authorized unmanned aerial vehicle to execute according to the corresponding patrol tasks according to the patrol instruction, and acquiring first detection information and time information of a task executing process in real time;

if the first detection information is the detection information of the unauthorized unmanned aerial vehicle, determining a return mission of the authorized unmanned aerial vehicle according to the time information and acquiring the return information of the authorized unmanned aerial vehicle;

controlling a time service protection module and a reverse module of the station to operate according to the return information and acquiring second detection information;

determining the fly-away journey of the authorized unmanned aerial vehicle according to the second detection information and the return information;

the time service protection module is used for protecting the authorized unmanned aerial vehicle from being interfered by the countering module, and the countering module is used for sending a decoy signal to drive the unauthorized unmanned aerial vehicle, so that the unauthorized unmanned aerial vehicle is far away from the area of the inspection task.

2. The method of claim 1, wherein the time information includes a first remaining time for authorizing the unmanned aerial vehicle to perform task cruising, a return time, and a second remaining time for current task completion, and determining the return task for the authorized unmanned aerial vehicle based on the time information includes:

acquiring a task type of authorizing the unmanned aerial vehicle to execute the inspection task;

if the task type is that the authorized unmanned aerial vehicle executes data acquisition at a task point of the inspection task, comparing the first residual time with the return time, and determining a first time;

selecting the time threshold value with the largest value from the first time of all authorized unmanned aerial vehicles of the station;

calculating according to the return time and the second residual time to obtain a second time; and comparing the second time with the time threshold value to determine a return mission of the authorized unmanned aerial vehicle.

3. The drone countercheck method of claim 2, wherein comparing the second time to the time threshold to determine a return mission for the authorized drone comprises:

if the second time is smaller than the time threshold, the return mission is a nest for authorizing the unmanned aerial vehicle to return to the station after finishing the corresponding inspection mission;

and if the second time is greater than the time threshold, the return task is the nest which returns to the station immediately.

4. The drone countercheck method of claim 2, wherein determining the authorized drone return mission based on the time information comprises:

if the task type is that the authorized unmanned aerial vehicle does not execute data acquisition at a task point of the inspection task, determining a return task of the authorized unmanned aerial vehicle according to comparison between the first residual time and the return time;

if the first remaining time is smaller than the return time, the return task is a nest for authorizing the unmanned aerial vehicle to return to the station after finishing the corresponding inspection task; and if the first remaining time is greater than the return time, the return task is a nest which returns to the station immediately.

5. The drone countercheck method of claim 1, wherein determining the missed approach distance of the authorized drone based on the second probe information and the return information comprises:

if the second detection information is the detection information of the unauthorized unmanned aerial vehicle in a certain time, controlling the authorized unmanned aerial vehicle to restart the fly-away journey of the execution task;

after the authorized unmanned aerial vehicle restarts to execute the task, if the return information is return after the authorized unmanned aerial vehicle completes the task of the current task point, the fly-away journey is the next task point of the inspection task;

if the return information is that the authorized unmanned aerial vehicle returns after not finishing the task of the current task point, the fly-away journey is the current task point of the inspection task;

and if the return information is that the unmanned aerial vehicle is authorized to return to the next task point, the fly-away journey is the next task point of the inspection task.

6. The drone countercheck method of claim 5, comprising: and returning after the authorized unmanned aerial vehicle completes the task of the current task point according to the return information, wherein the current task point is the last task point of the inspection task, and the authorized unmanned aerial vehicle completes the inspection task.

7. The unmanned aerial vehicle anti-system of patrolling and examining system, characterized by including set up at the station machine nest, detection module, time service protection module, anti-module, authorized unmanned aerial vehicle and patrol and examine control module, patrol and examine control module and be used for according to detection module time service protection module, the information control of anti-module feedback authorize unmanned aerial vehicle is according to the operation of the anti-method of patrolling and examining of unmanned aerial vehicle according to any one of claims 1-6.

8. Unmanned aerial vehicle reaction's inspection device, its characterized in that includes: the system comprises a first data acquisition module, a first execution task module, a second data acquisition module and a second execution task module;

the first data acquisition module is used for acquiring a patrol instruction of the station authorized unmanned aerial vehicle and patrol tasks of each authorized unmanned aerial vehicle, and controlling the authorized unmanned aerial vehicle to execute according to the corresponding patrol tasks according to the patrol instruction and acquiring first detection information and time information of a task executing process in real time;

the first execution task module is used for determining a return task of the authorized unmanned aerial vehicle according to the time information and acquiring return information of the authorized unmanned aerial vehicle according to the detection information of the unauthorized unmanned aerial vehicle;

the second data acquisition module is used for controlling the time service protection module and the reverse module of the station to operate according to the return information and acquiring second detection information;

the second execution task module is used for determining the fly-away journey of the authorized unmanned aerial vehicle according to the second detection information and the return information;

the time service protection module is used for protecting the authorized unmanned aerial vehicle from being interfered by the countering module, and the countering module is used for sending a decoy signal to drive the unauthorized unmanned aerial vehicle, so that the unauthorized unmanned aerial vehicle is far away from the area of the inspection task.

9. The unmanned aerial vehicle-countered inspection device of claim 8, wherein the time information comprises a first remaining time for authorizing the unmanned aerial vehicle to perform task cruising, a return time, and a second remaining time for current task completion, and the first task-executing module is further configured to obtain a task type for authorizing the unmanned aerial vehicle to perform the inspection task; according to the task type, the authorized unmanned aerial vehicle performs data acquisition at a task point of a patrol task, the first residual time is compared with the return time, and the first time is determined; selecting the first time with the largest value from all authorized unmanned aerial vehicles of the station as a time threshold, and calculating according to the return time and the second residual time to obtain a second time; comparing the second time with the time threshold value to determine a return mission of the authorized unmanned aerial vehicle; or according to the task type, the authorized unmanned aerial vehicle does not execute data acquisition at the task point of the inspection task, and according to the comparison of the first residual time and the return time, the return task of the authorized unmanned aerial vehicle is determined.

10. A terminal device comprising a processor and a memory;

the memory is used for storing program codes and transmitting the program codes to the processor;

the processor is configured to execute the inspection method for unmanned aerial vehicle reaction according to any one of claims 1 to 6 according to the instructions in the program code.