CN106325290A - Monitoring system and device based on unmanned aerial vehicle - Google Patents
Monitoring system and device based on unmanned aerial vehicle Download PDFInfo
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- CN106325290A CN106325290A CN201610874032.3A CN201610874032A CN106325290A CN 106325290 A CN106325290 A CN 106325290A CN 201610874032 A CN201610874032 A CN 201610874032A CN 106325290 A CN106325290 A CN 106325290A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 118
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- 230000004888 barrier function Effects 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 21
- 230000007613 environmental effect Effects 0.000 claims description 14
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a monitoring system based on an unmanned aerial vehicle, comprising an unmanned aerial vehicle terminal, an intelligent equipment terminal, a cloud terminal server and a monitoring terminal, wherein the intelligent equipment terminal is adhered to the monitored target, a first communication module and a processor module are arranged in the intelligent equipment terminal, the unmanned aerial vehicle terminal is connected with the intelligent equipment terminal, a tracking module is arranged in the unmanned aerial vehicle terminal, the unmanned aerial vehicle terminal can fly along the intelligent equipment terminal by the tracking module. The internal shooting module is used for obtaining the real-time video information of the monitored target and the surroundings, a second inner communication module is used for communicating with the information of the first communication module, the intelligent equipment terminal uploads the real-time information of the monitored target to the cloud terminal server by the first communication module, and the monitoring terminal can obtain the real-time information from the cloud terminal server. The unmanned aerial vehicle in the invention is used as the front-end monitoring equipment so as to solve the problems of limited monitoring range, high monitoring cost and monitoring dead angle existing in the traditional monitoring system.
Description
[technical field]
The present invention relates to monitoring field, particularly relate to a kind of monitoring system based on unmanned plane
[background technology]
Nowadays in urban life, Young Patients often have no time because being busy with one's work look after child, at this moment people are usual
Can be by help nurse child during father and mother are connected to city in family.But most educational level of parents are the highest or urban life is lacked experience,
In a period of time of just foreign environment life, various trouble often occurs because not knowing about urban life.What is more,
Some old man carry small children go out to play time, the offender abducting child can be run into, fall into offender's snare, cause child
Abducted event occurs.The final cause that this kind of event occurs is that child father and mother can not accompany and attend to old man and child at one's side, this
Time just typically require the long distance monitoring realizing old man and child by monitoring.
Existing monitoring system mostly is TV monitor system, typical TV monitor system mainly by front end monitor equipment,
This five major parts composition of transmission equipment, rear end storage, control and display device, wherein rear end equipment can be further divided into center control
Control equipment and sub-control control equipment.Front and back ends equipment has multiple constituted mode, the contact (also referred to as transmitting system) between them
Can be realized by various ways such as cable, optical fiber, microwaves.When the object or person of movement are monitored, it usually needs set
Put multiple front end and monitor equipment, be equipped with corresponding transmission equipment, rear end storage simultaneously, control and display device, this traditional
Monitoring system when needs carry out large-range monitoring or mobile target is monitored end, then needs to install the supervision of a large amount of front end and sets
Standby, in order to realize the monitoring of the relay-type to mobile target, the therefore equipment cost of monitoring system, installation cost and maintenance cost
Then can be greatly increased；It addition, monitor that some regions of equipment then cannot use traditional prison monitoring system front end cannot be installed
Ore-controlling Role is monitored；Further, monitor that equipment is limited, so that the scope that monitoring system can monitor has due to front end
Limit, and owing to front end monitors the limitation of equipment, there is monitoring in the most inevitably causing monitoring system monitoring range dead
Angle.
[summary of the invention]
In view of the problem of above-mentioned at least one aspect, the present invention provides a kind of monitoring system based on unmanned plane, will carry
There is the unmanned plane supervision equipment in front end as monitoring system of taking module, to realize the tracking prison to mobile target to be monitored
Control.
For realizing this purpose, the present invention adopts the following technical scheme that
A kind of monitoring system based on unmanned plane, it is characterised in that including: smart machine end, unmanned plane end, cloud service
Device and monitoring client；
Wherein, described smart machine end is attached to target to be monitored, built-in first communication module and processor module；
Described unmanned plane end is connected with described smart machine end, and built-in tracking module is used for making described unmanned plane end follow
Described smart machine end flies, and built-in taking module is for obtaining the real-time audio-video letter of described target to be monitored and surrounding enviroment thereof
Breath, built-in second communication module is for the information communication with described first communication module；
The real time information of described target to be monitored is uploaded to institute by described first communication module by described smart machine end
Stating cloud server, described monitoring client obtains described real time information from described cloud server.
Concrete, described unmanned plane end and described smart machine end set up Trusted channel, connect based on this, described tracking mould
Block obtains the positional information of described smart machine end, and positional information based on described unmanned plane end, is calculated described unmanned
The relative position of machine end and described smart machine end, and make described relative position by the way of adjusting the flight of described unmanned plane end
For preset value.
Further, described relative position includes the course distance between described smart machine end and described unmanned plane end,
The difference in height of course heading and/or described smart machine end and described unmanned plane end；
Described course distance is:
Described course heading is:
Described course heading is:
Described difference in height is:
H=| z1-z2|
Wherein, (x1, y1, z1) it is the positional information of described smart machine end, (x2, y2, z2) it is the position of described unmanned plane end
Confidence ceases；Described x1, y1, x2, y2Obtained by alignment sensor, described z1, z2Obtained by baroceptor.
Further, described tracking module adjusts the mode of described unmanned plane end flight, including:
When difference in height between described smart machine end and unmanned plane is fixed value, the flight speed controlling unmanned plane makes
The course distance obtained between unmanned plane and smart machine end keeps constant；
When difference in height between described smart machine end and unmanned plane is gradually reduced and is less than the first preset height difference, control
It is poor that the flying height difference of unmanned plane processed promotes described first preset height；
When difference in height between described smart machine end and unmanned plane is gradually increased and is more than the second preset height difference, control
It is poor that the flying height difference of unmanned plane processed promotes described first preset height；
When difference in height between described smart machine end and unmanned plane is gradually increased and is more than the second preset height difference, control
It is poor that the flying height difference of unmanned plane processed reduces described second preset height.
Concrete, when described smart machine end translational speed exceedes preset range, described unmanned plane foundation gets
Described smart machine end real-time translational speed data, adjust described unmanned plane speed, so that described unmanned plane sets with described intelligence
Distance between standby end is in predetermined distance range.
Further, described smart machine end built-in instruction information generating module, for generating the second command information, described
Second command information is used for indicating unmanned plane to change its flight attitude, direction and speed.
Further, described monitoring client sends the first command information to described smart machine by described cloud server
End.
Concrete, described first command information includes information uploading instructions and the instruction of the first UAV Flight Control；
Described information uploading instructions is used for indicating described smart machine end that described real time information is uploaded to described high in the clouds clothes
Business device；
Described first UAV Flight Control instruction, instruction unmanned plane stops following flight, and changes its flight in accordance with the instructions
Attitude, direction and speed；
Described second command information is the second UAV Flight Control instruction, and instruction unmanned plane stops following flight, and presses
Instruction changes its flight attitude, direction and speed.
Further, described smart machine end also includes judge module, when receiving described first command information, it is judged that institute
After stating the instruction type of the first command information, make respective response based on the described instruction type judged: described when receiving
Then described real time information is uploaded to described cloud server during information uploading instructions, when receiving described UAV Flight Control
Described unmanned plane end is then sent it to during instruction.
Optionally, described first UAV Flight Control instruction has relative to described second UAV Flight Control instruction
Higher priority.
Optionally, when described smart machine termination receives described first UAV Flight Control instruction, described second refers to
Information generating module is made to lose efficacy.
Further, described smart machine end is also built-in with:
First alignment sensor, for obtaining the enforcing location information of described smart machine end；
Memorizer, is used for storing described real time information；
Warning module, is used for generating early warning information.
Concrete, described real time information includes described real-time position information and described real-time audio-video information.
Optionally, described monitoring client is set predeterminable area and is carried out with described smart machine end by described cloud server
Synchronizing, when described target to be monitored occurs in described predeterminable area, described smart machine end is uploaded described monitored automatically
The real time information of target, to described cloud server, is generated described early warning information simultaneously and is sent extremely by described cloud server
Described monitoring client.
Optionally, described monitoring client is set predeterminable area and is carried out with described smart machine end by described cloud server
Synchronizing, when described target to be monitored is not in described predeterminable area, described smart machine end uploads described monitored mesh automatically
Target real time information, to described cloud server, is generated described early warning information simultaneously and is sent to institute by described cloud server
State monitoring client.
Optionally, the position locus information of target to be monitored described in described smart machine end record, and according to the note of accumulation
The zone of action of described target to be monitored is divided into movable high frequency region and movable low frequency range by record result.
Further, when described target to be monitored occurs in described movable low frequency range or disappears in described movable high frequency region
Time, described smart machine end is automatically uploaded the real time information extremely described cloud server of described target to be monitored, is generated institute simultaneously
State early warning information and sent to described monitoring client by described cloud server.
Optionally, described processor module obtains the described enforcing location information from described first alignment sensor, and
Only when receiving described early warning information, described enforcing location information is sent to described monitoring by described cloud server
End.
Concrete, the described unmanned plane end in the monitoring system disclosed in this programme also includes opening/closing unit, is used for opening
With the described unmanned plane end of closedown, after described unmanned plane termination receives open command, i.e. enter opening program, when described unmanned plane
After end is closed, then enter bolt down procedure.
Further, described opening program is: accept open command；Activate all modules of unmanned plane end；Adjust described intelligence
Can the relative position size of equipment end and described unmanned plane end to preset value；Offline mode is followed in entrance.
Further, described bolt down procedure is: accept out code；Enter landing procedure；Close unmanned plane end built-in
All modules in addition to described second communication module.
Optionally, also include avoidance module, be located at inside affiliated unmanned plane end, comprising: environmental information detects mould in real time
Block, uses multi-sensor fusion technology to realize the environment of surrounding and detects in real time and transmit the information detected to obstacle
Thing Data Analysis Services module；The environmental information of the barrier Data Analysis Services module surrounding to receiving carries out environmental structure sense
Know that structure determines residing barrier；Avoidance decision-making module determines according to the output result of barrier Data Analysis Services module to be kept away
Barrier decision-making also sends to flight control modules, realizes unmanned plane by described flight control modules and hides peripheral obstacle.
A kind of unmanned plane following target to be monitored flight, it is characterised in that including: tracking module is used for realizing unmanned plane
That holds follows flight；Taking module is for obtaining the real-time audio-video information of described target to be monitored and surrounding enviroment thereof；Second leads to
Letter module is used for instructing acceptance and information sends；Second alignment sensor and the second baroceptor are used for obtaining described unmanned plane
The positional information of end；Flight control modules is for unmanned plane during flying attitude, speed, direction, the control of distance and adjustment.
A kind of portable intelligent device end being attached to target to be monitored, it is characterised in that including:
Wireless fidelity module, for access communications network；
Touch-sensitive display, for display interface, it is achieved man-machine interaction；
First communication module, processor module, warning module, command information generation module, the first alignment sensor and
One baroceptor；
One or more processors；
Memorizer；
One or more application programs, wherein said one or more application programs are stored in described memorizer and quilt
It is configured to be performed by the one or more processor；
The one or more program is used for driving the one or more processor to be configured to perform to appoint in this programme
Anticipate the module described in.
The beneficial effects of the present invention is:
Monitoring system provided by the present invention can be followed target to be monitored and be moved, and compares traditional fixed supervision equipment
Monitoring system, monitoring system provided by the present invention has more flexible monitoring range, also solves conventional monitoring systems simultaneously
In there may be monitoring dead angle problem.
Secondly, when the target to be monitored that monitoring is moved on a large scale, monitoring system provided by the present invention also has
Lower monitoring cost, this is because: conventional monitoring systems needs multiple fixed photographic head, and its monitoring system monitors equipment
Purchase cost higher, furthermore also the installation cost of supervision equipment, circuit lay cost and the maintenance, repair of equipment or
Replacement cost etc..And in monitoring system provided by the present invention, device therefor is only a frame unmanned plane and a smart machine
End, total purchase cost of equipment is the highest, and without laying cost, and cartonning can be received when not in use due to its equipment, no
Outside need to being chronically exposed to, therefore its maintenance cost also can be lower, finally makes monitoring system provided by the present invention have than tradition
The lower monitoring cost of monitoring system.
Again, the supervision equipment of monitoring system provided by the present invention is unmanned plane, it is not necessary to install, therefore can be more easily
It is applied to be not easy to install in the scene that front end monitors equipment.
[accompanying drawing explanation]
Fig. 1 is the frame system principle schematic of one embodiment of the invention.
Fig. 2 is that the unmanned plane end of the present invention follows the tracks of the mode diagram flown.
Fig. 3 is the principle schematic that the unmanned plane end of the present invention follows flying method.
Fig. 4 is the frame system principle schematic of another embodiment of the present invention.
Fig. 5 is the frame system principle schematic of another embodiment of the present invention.
Fig. 6 is the frame system principle schematic of another embodiment of the present invention.
Fig. 7 is the frame system principle schematic of another embodiment of the present invention.
Fig. 8 is the frame system principle schematic of another embodiment of the present invention.
Fig. 9 is the frame system principle schematic of another embodiment of the present invention.
Figure 10 is the frame system principle schematic of another embodiment of the present invention.
Figure 11 is unmanned plane end automatic obstacle-avoiding mode schematic diagram of the present invention.
Figure 12 is the structural representation of the portable intelligent device end being attached to target to be monitored
[detailed description of the invention]
With exemplary embodiment, the present invention is further described below in conjunction with the accompanying drawings, wherein identical in accompanying drawing label
All refer to identical parts.Additionally, if it is known that the detailed description of technology for illustrate the invention is characterized in that unnecessary
, then omitted.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " it is etc. for distinguishing similar object, without being used for describing specific order or precedence.Should be appreciated that so use
Data can exchange in the appropriate case, in order to embodiment described herein can be with except here illustrating or describing
Order beyond those is implemented.Additionally, term " includes " and " having " and their any deformation, it is intended that cover and do not arrange
He comprises, and such as, contains series of steps or the process of unit, method, system, product or equipment are not necessarily limited to clearly
Those steps listed or unit, but can include the most clearly listing or for these processes, method, product or equipment
Other intrinsic step or unit.
Fig. 1 is illustrated that the monitoring system frame principles of the present invention.Smart machine end 2 is attached on target to be monitored, nothing
Man-machine end 1 carries taking module follows smart machine end 2 and flies, and taking module photographs smart machine end 2 and surrounding thereof
Real time information, owing to smart machine end 2 is attached on target to be monitored 5, so the real time information of target to be monitored 5 can be by
Unmanned plane end 1 shoots, and described real time information is mainly the real-time audio-video information of described target to be monitored 5.Described real time information warp
Being uploaded to cloud server 3 by smart machine end 2, monitoring client 4 downloads described reality from cloud server after connecting cloud server
Time information.So far the long-range monitoring of the target to be monitored 5 to movement is achieved.
In a kind of application scenarios, target to be monitored 5 persistently moves and frequent changes zone of action.The present invention is by being equipped with bat
The unmanned plane end 1 taking the photograph module is tracked shooting to the target to be monitored 5 wearing smart machine end 2, to replace tradition monitoring
In system, fixing or the most movable front end monitors equipment, it is achieved thereby that the monitoring to mobile target to be monitored.
As shown in Figures 2 and 3, the monitoring system that the present invention provides realizes following the mode of flight: unmanned plane end is built-in
Tracking module by obtaining smart machine end and the positional information of unmanned plane end, according to smart machine end and the position of unmanned plane end
Confidence ceases, and obtains relative position between the two, contrasts the size of described relative position and preset value, if inconsistent, then will be poor
Value information sends to flight control modules, and based on described difference information, the size of described relative position is adjusted flying of unmanned plane
Exercising described relative position size is preset value.
Concrete, determine smart machine end and unmanned plane according to smart machine end position information and unmanned plane end position information
Relative position between end；Wherein, the positional information of smart machine end is (x1, y1, z1), the positional information of unmanned plane is (x2,
y2, z2).Described x1, y1, x2, y2Specifically can be obtained by the baroceptor of the alignment sensor of unmanned plane end and smart machine end
, described z1, z2Specifically can be calculated by baroceptor and obtain.Described relative position includes smart machine end and unmanned plane end
Between course distance, the difference in height between course heading and/or smart machine end and unmanned plane；Wherein, according to course distance,
The horizontal range between unmanned plane and smart machine end can be adjusted, it is achieved the level between smart machine end and unmanned plane end is moved
Dynamic.According to course heading, the head of unmanned plane can be adjusted towards, the actually shooting of filming apparatus in controlling unmanned plane
Direction.So when the movement locus of smart machine end changes, unmanned plane end can adjust the court of filming apparatus accordingly
To, make filming apparatus can lock smart machine end always.According to difference in height, can adjust unmanned plane end and smart machine end it
Between height, it is achieved the upslope motion of unmanned plane and downslope motion.Smart machine end and the flight being arranged on unmanned plane control
Module collectively constitutes the flight of unmanned plane and adjusts system.Described flight control modules includes: controller, for according to described intelligence
Smart machine end position information and unmanned plane positional information that equipment end sends determine between smart machine end and described unmanned plane
Relative position；According to the relative position between described unmanned plane with described smart machine end, adjust flying of described unmanned plane end
Row state, makes the relative position between unmanned plane with smart machine end remain preset value.Wherein, smart machine end can be intelligence
Energy wrist-watch, it is also possible to be the smart machine such as smart mobile phone or intelligence finger ring, wherein, outside intelligent watch and intelligence finger ring need
Put GPS locating module, so convenient location in time, and smart mobile phone can directly use self built-in GPS locating module.Intelligence
Equipment end can include: the first alignment sensor, be used for determining smart machine end position information；First baroceptor, for really
Determine smart machine end place difference in height pressure information；First communication module, for by described smart machine end position information and institute
State pressure information and be transferred to described flight controller.Flight control modules, including: the second alignment sensor, it is used for determining nobody
Machine positional information；Second baroceptor, is used for determining unmanned plane place difference in height pressure information；Second communication module, is used for
Receive described smart machine end position information and described pressure information.Wherein, described relative position includes smart machine end and nothing
Difference in height between course distance between man-machine, course heading and/or smart machine end and unmanned plane.
Described course distance is:
Described course heading is:
Described difference in height is:
H=| z1-z2|
Wherein, (x1, y1, z1) it is the positional information of smart machine end, (x2, y2, z2) it is the positional information of unmanned plane.Described
Controller specifically includes: move horizontally controller, when the difference in height between smart machine end and unmanned plane is fixed value, controls
The flight speed of unmanned plane makes the course distance between unmanned plane and smart machine end keep constant.Upslope motion controller,
When difference in height between smart machine end and unmanned plane is gradually reduced and is less than the first preset height difference, control flying of unmanned plane
It is poor that line height difference promotes described first preset height.Downslope motion controller, the height between smart machine end and unmanned plane
When difference is gradually increased and is more than the second preset height difference, control the flying height difference of unmanned plane to reduce described second preset height
Difference.
Fig. 4 shows the control principle of monitoring system of the present invention.Monitoring client 4 sends the first instruction by cloud server 3
Information is to smart machine end 2；Smart machine end 2 receives described first command information, and its built-in processor module is based on described
The particular content of the first command information makes respective response, when the first command information received is information uploading instructions, then
Real time information is uploaded to described cloud server, when the first command information received is the first UAV Flight Control instruction
Time, then forward it to described unmanned plane end.Wherein, described first command information includes information uploading instructions and the first unmanned plane
Flight control instruction；Described information uploading instructions is used for indicating described smart machine end that described real time information is uploaded to described cloud
End server；Described first UAV Flight Control instruction, instruction unmanned plane stops following flight, and changes its flight in accordance with the instructions
Attitude, direction and speed.When not receiving described information uploading instructions, the most described smart machine does not carry out described real time information
Upload.
Such as Fig. 5, in a kind of application scenarios, smart machine end 2 accepts the real time information that unmanned plane end 1 transmits, but will not
It is uploaded to cloud server 3, and only described real time information is stored, when receiving monitoring client 4 by cloud server 3
When the first command information sent is information uploading instructions, then the phonotape and videotape that instruction based on described information uploading instructions will be stored
Information or the real time information received are uploaded, thus reduce the required data traffic total amount sent of smart machine end 2, joint
The about transmission cost of data in monitoring system flow, simultaneously can the real time information of calling stored when necessary, thus ensure prison
Control effect.
Such as Fig. 6, in another application scenarios, monitoring client 4 sends first to smart machine end 2 by cloud server 2
When command information is the first UAV Flight Control instruction, the first described UAV Flight Control is then referred to by smart machine end 2
Making and be forwarded directly to unmanned plane end 1 by built-in communication module 21, unmanned plane end receives described first UAV Flight Control
Instruction, and make in accordance with the instructions and respond flare maneuver accordingly, thus realize the monitoring client 4 long-range control to unmanned plane end 1.
Such as Fig. 7, in another application scenarios, due to the operation of target to be monitored 5, the instruction letter that smart machine end 2 is built-in
Breath generation module 23 generates the second UAV Flight Control instruction, and described second UAV Flight Control instructs through its built-in place
Reason device module 22 is forwarded to its built-in communication module 21, then sends to unmanned plane end 1, and unmanned plane end receives described first nothing
Man-machine flight control instruction, and make in accordance with the instructions and respond flare maneuver accordingly, thus realize smart machine end 2 to unmanned plane end
The control of 1.
Preferably, such as Fig. 8, monitoring client 4 sends described first UAV Flight Control by cloud server 2 and instructs to intelligence
Can equipment end 2, and simultaneously because the operation of target to be monitored 5, the built-in command information generation module 23 of smart machine end 2 generates
Second UAV Flight Control instruction, described first UAV Flight Control instruction and described second UAV Flight Control refer to
Order all sends to the built-in processor module 22 of smart machine end 2, and at this moment processor judges according to the sources of two kinds of instructions,
Only send described first UAV Flight Control to instruct to communication module 21, then send to unmanned plane end 1.Thus solve when prison
The problem of instruction priority during the control instruction conflict that the remote control commands of control end 4 and smart machine end 2 generate.
Optionally, such as Fig. 9, when smart machine end 2 receive monitoring client 4 by cloud server 2 send first unmanned
During machine flight control instruction, described command information generation module 23 can be closed by the built-in processor module 22 of smart machine end 2
Close, make the second UAV Flight Control instruction to generate, thus avoid the conflict that UAV Flight Control instructs.
In a kind of application scenarios, monitoring system is not required to be in starting state, supervisor for a long time in some cases
Also without dig-inning monitoring device always, the long-time real time information obtaining target to be monitored；When target to be monitored is in a certain
Then it is made without when region or a certain scope monitoring in real time, then needs it is supervised during beyond this region or scope
Control, for example, it is desired to monitored old man and child, when they are in, monitoring system need not continuous service, and when they walk
When going out door, then need it is monitored.Monitoring client 4 preset security region in map, and by cloud server 3 by institute
The predeterminable area stated sends to smart machine end 2；Described safety zone is sent to warning module 24 by smart machine end 2；Intelligence
Equipment end 2 can obtain its positional information in described map by the first built-in alignment sensor 25, and by described position
Information sends to warning module 24, and described positional information and described safety zone are contrasted, work as smart machine by warning module
End is when disappearing in described safety zone, and warning module generates alarm command and information uploading instructions, and by described alarm command by
Communication module 21 sends to monitoring client 4 via cloud server, and sends information uploading instructions to processor module 22 simultaneously,
Then the enforcing location information of smart machine end now and the real-time audio-video information received from unmanned plane end 1 are uploaded to cloud
End server 3.By the way of this region of preset security in systems, it is achieved the warning function of monitoring system of the present invention and from
Real time information is uploaded in dynamic startup.
In another application scenarios, when needing monitored old man and child to go out, it often goes to position to be typically place of safety
Territory, and these regions may not be known by supervisor one by one, it is likely that these regions well cannot be preset out, because of
This needs more scientific safety zone presetting method.Such as Figure 10, in the present invention, smart machine end is passed by the first built-in location
Sensor obtains the trip route of target to be monitored, and is got off by described paths record, deposits the most in memory after repeatedly record
At multiple trip route, when trip route is abundant, these trip route can be added up in map by processor module
Superposition, and movable high-frequency region when calculating trip and movable low frequency region, and according to described movable high-frequency region and work
Dynamic low frequency region carries out preset security region to the zone of action of target to be monitored.
In Another Application scene, when unmanned plane end is in holding state, its intercommunication module is in half starting state,
The most only can accept the state of open command.When needing monitored old man and child to go out, can be sent by smart machine end
Open command, after now unmanned plane end receives described open command, activates opening/closing unit, and described opening/closing unit starts described unmanned
All modules that machine end is built-in；Then, unmanned plane end is set up with smart machine end and is connected, and the phase arranged based on smart machine end
Position preset value carrying out flight adjust, making relative distance between the two is preset value size, then enters and follows flight appearance
State.When being no longer necessary to unmanned plane end and continuing to follow monitoring, out code can be sent to unmanned plane by described smart machine end
End, after described unmanned plane end receives described out code, enters landing mode, and its flying height is gradually reduced, until touching
After supporting surface, opening/closing unit works, and closes all modules in addition to communication module that described unmanned plane end is built-in, now, nothing
Man-machine end enters holding state.
Such as Figure 11, in monitoring system provided by the present invention, unmanned plane end during following target to be monitored flight,
Also have the module of automatic obstacle-avoiding, be accomplished by: the real-time detection module of environmental information, use multi-sensor fusion technology
Realize the environment of surrounding being detected in real time and transmitting the information detected to barrier Data Analysis Services module；Obstacle
The environmental information of the thing Data Analysis Services module surrounding to receiving carries out environmental structure perception structure and determines residing barrier；
Avoidance decision-making module determines avoidance decision-making according to the output result of barrier Data Analysis Services module and sends to control of flying
Module, realizes unmanned plane by described flight control modules and hides peripheral obstacle.
Concrete, the real-time detection module of environmental information, use multi-sensor fusion technology to realize the environment of surrounding and carry out
The information detected also is transmitted to barrier Data Analysis Services module stage by detection in real time, can be by before unmanned aerial vehicle onboard
Enter direction millimetre-wave radar, top ultrasonic sensor and binocular machine vision system and obtain the original letter of unmanned plane surrounding
Breath.By environment raw information input environment and barrier Data Analysis Services module, carry out environmental structure perception structure.Environment is tied
Structure perception builds just can construct the space connected region in the space structure around unmanned plane, based on obtain by simulation
Unmanned plane surrounding, on the premise of avoiding colliding with barrier, the space connected region that can be used for flight obtained is permissible
It is interpreted as in three dimensions rejecting the space segment shared by barrier, the remaining space connected.Robot dodge strategy selects and determines
Plan.It is divided into the Robot dodge strategy of two ranks generally: simple Robot dodge strategy and complicated Robot dodge strategy.Simple Robot dodge strategy is by outstanding
Stop and the mode of the obstacle detouring that climbs, process barrier avoidance.Complicated avoidance is mainly planned by rerouting and dynamic lane
Mode processes avoidance, and this mode is the avoidance for processing complex barrier thing.
The embodiment of the present invention additionally provides a kind of portable intelligent device end being attached to target to be monitored, and allows tool
There is the structure of such as follow-up with reference to present invention introduction.As shown in figure 12, for convenience of description, illustrate only and present invention enforcement
The part that example is relevant, concrete ins and outs do not disclose, and refer to embodiment of the present invention method part.This terminal can be to include
Mobile phone, panel computer, PDA (Personal Digital Assistant, personal digital assistant), POS (Point of
Sales, point-of-sale terminal), the arbitrarily terminal unit such as vehicle-mounted computer, as a example by terminal is as mobile phone:
Figure 12 is illustrated that the block diagram of the part-structure of the mobile phone relevant to the terminal of embodiment of the present invention offer.With reference to figure
12, mobile phone includes: radio frequency (Radio Frequency, RF) circuit 210, memorizer 220, input block 230, display unit
240, sensor 250, voicefrequency circuit 260, Wireless Fidelity (wireless fidelity, WiFi) module 270 (namely WiFi core
Sheet module), the parts such as processor module 280 and power supply 290.It will be understood by those skilled in the art that the hands shown in Figure 12
Machine structure is not intended that the restriction to mobile phone, can include that ratio illustrates more or less of parts, or combine some parts, or
The parts that person is different are arranged.
Below in conjunction with Figure 12 each component parts of mobile phone carried out concrete introduction:
RF circuit 210 can be used for receiving and sending messages or in communication process, the reception of signal and transmission, especially, by base station
After downlink information receives, process to processor module 280；It addition, be sent to base station by designing up data.Generally, RF electricity
Road 210 includes but not limited to antenna, at least one amplifier, transceiver, bonder, low-noise amplifier (Low Noise
Amplifier, LNA), duplexer etc..Additionally, RF circuit 210 can also be communicated with network and other equipment by radio communication.
Above-mentioned radio communication can use arbitrary communication standard or agreement, includes but not limited to global system for mobile communications (Global
System of Mobile communication, GSM), general packet radio service (General Packet Radio
Service, GPRS), CDMA (Code Division Multiple Access, CDMA), WCDMA
(Wideband Code Division Multiple Access, WCDMA), Long Term Evolution (Long Term Evolution,
LTE), Email, Short Message Service (Short Messaging Service, SMS) etc..
Memorizer 220 can be used for storing software program and module, and processor module 280 is stored in memorizer by operation
The software program of 220 and module, thus perform the application of various functions and the data process of mobile phone.Memorizer 220 can be main
Including storage program area and storage data field, wherein, answering needed for storage program area can store operating system, at least one function
By program (such as sound-playing function, image player function etc.) etc.；The use that storage data field can store according to mobile phone is created
The data (such as voice data, phone directory etc.) etc. built.Additionally, memorizer 220 can include high-speed random access memory, also
Nonvolatile memory can be included, for example, at least one disk memory, flush memory device or the storage of other volatile solid-state
Device.
Input block 230 can be used for receiving numeral or the character information of input, and produce with the user setup of mobile phone with
And function controls relevant key signals input.Specifically, input block 230 can include that contact panel 231 and other inputs set
Standby 232.Contact panel 231, also referred to as touch screen, can collect user thereon or neighbouring touch operation (such as user uses
Any applicable object such as finger, stylus or adnexa operation on contact panel 231 or near contact panel 231), and root
Corresponding attachment means is driven according to formula set in advance.Optionally, contact panel 231 can include touch detecting apparatus and touch
Two parts of controller.Wherein, the touch orientation of touch detecting apparatus detection user, and detect the signal that touch operation brings,
Transmit a signal to touch controller；Touch controller receives touch information from touch detecting apparatus, and is converted into touching
Point coordinates, then give processor module 280, and order that processor module 280 sends can be received and performed.Additionally, can
To use the polytypes such as resistance-type, condenser type, infrared ray and surface acoustic wave to realize contact panel 231.Except contact panel
231, input block 230 can also include other input equipments 232.Specifically, other input equipments 232 can include but not limit
One in physical keyboard, function key (such as volume control button, switch key etc.), trace ball, mouse, action bars etc. or
Multiple.
Display unit 240 can be used for the various of the information that inputted by user of display or the information being supplied to user and mobile phone
Menu.Display unit 240 can include display floater 241, optionally, can use liquid crystal display (Liquid Crystal
Display, LCD), the form such as Organic Light Emitting Diode (Organic Light-Emitting Diode, OLED) configure aobvious
Show panel 241.Further, contact panel 231 can cover display floater 241, when contact panel 231 detects thereon or attached
After near touch operation, send processor module 280 to determine the type of touch event, with postprocessor module 280 basis
The type of touch event provides corresponding visual output on display floater 241.Although in fig. 12, contact panel 231 is with aobvious
Show that panel 241 is to realize input and the input function of mobile phone as two independent parts, but in certain embodiments, can
With by integrated to contact panel 231 and display floater 241 and realize input and the output function of mobile phone.
Mobile phone may also include at least one sensor 250, such as optical sensor, motion sensor and other sensors.
Specifically, optical sensor can include ambient light sensor and proximity transducer, and wherein, ambient light sensor can be according to ambient light
Light and shade regulate the brightness of display floater 241, proximity transducer can cut out display floater 241 when mobile phone moves in one's ear
And/or backlight.As the one of motion sensor, accelerometer sensor can detect (generally three axles) acceleration in all directions
Size, can detect that size and the direction of gravity time static, can be used for identify mobile phone attitude application (such as horizontal/vertical screen is cut
Change, dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, percussion) etc.；Also may be used as mobile phone
Other sensors such as the gyroscope of configuration, barometer, drimeter, thermometer, infrared ray sensor, do not repeat them here.
Voicefrequency circuit 260, speaker 261, microphone 262 can provide the audio interface between user and mobile phone.Audio-frequency electric
The signal of telecommunication after the voice data conversion that road 260 can will receive, is transferred to speaker 261, speaker 261 is converted to sound
Signal exports；On the other hand, the acoustical signal of collection is converted to the signal of telecommunication by microphone 262, voicefrequency circuit 260 turn after receiving
Be changed to voice data, then after voice data output processor module 280 being processed, through RF circuit 210 be sent to such as another
Mobile phone, or voice data is exported to memorizer 220 to process further.
WiFi belongs to short range wireless transmission technology, and mobile phone can help user's transceiver electronics postal by WiFi module 270
Part, browsing webpage and access streaming video etc., it has provided the user wireless broadband internet and has accessed.Although Figure 12 shows
WiFi module 270, but it is understood that, it is also not belonging to must be configured into of mobile phone, can not change as required completely
Omit in the scope of the essence becoming invention.
Processor module 280 is the control centre of mobile phone, utilizes various interface and each portion of the whole mobile phone of connection
Point, it is stored in the software program in memorizer 220 and/or module by running or performing, and calls and be stored in memorizer 220
Interior data, perform the various functions of mobile phone and process data, thus mobile phone is carried out integral monitoring.Optionally, processor die
Block 280 can include one or more processing unit；Preferably, processor module 280 can integrated application processor and modulation /demodulation
Processor, wherein, application processor mainly processes operating system, user interface and application program etc., modem processor master
Radio communication to be processed.It is understood that above-mentioned modem processor can not also be integrated in processor module 280.
Mobile phone also includes the power supply 290 (such as battery) powered to all parts, it is preferred that power supply can pass through power supply pipe
Reason system is logically contiguous with processor module 280, thus realizes management charging, electric discharge and power consumption by power-supply management system
The functions such as management.
Although not shown, mobile phone can also include photographic head, bluetooth module etc., does not repeats them here.
Generally, the technical scheme that the present invention provides is summarized as follows:
A1, a kind of monitoring system based on unmanned plane, it is characterised in that including: smart machine end, unmanned plane end, high in the clouds
Server and monitoring client；
Wherein, described smart machine end is attached to target to be monitored, built-in first communication module and processor module；
Described unmanned plane end is connected with described smart machine end, and built-in tracking module is used for making described unmanned plane end follow
Described smart machine end flies, and built-in taking module is for obtaining the real-time audio-video letter of described target to be monitored and surrounding enviroment thereof
Breath, built-in second communication module is for the information communication with described first communication module；
The real time information of described target to be monitored is uploaded to institute by described first communication module by described smart machine end
Stating cloud server, described monitoring client obtains described real time information from described cloud server.
A2, according to the monitoring system described in claim A1, it is characterised in that described unmanned plane end and described smart machine
End sets up Trusted channel, connects based on this, and described tracking module obtains the positional information of described smart machine end, and based on described
The positional information of unmanned plane end, is calculated the relative position of described unmanned plane end and described smart machine end, and by adjusting
The mode of described unmanned plane end flight makes described relative position be preset value.
A3, according to the monitoring system described in claim A2, it is characterised in that described relative position includes that described intelligence sets
Course distance between standby end and described unmanned plane end, course heading and/or described smart machine end and described unmanned plane end
Difference in height；
Described course distance is:
Described course heading is:
Described difference in height is:
H=| z1-z2|
Wherein, (x1, y1, z1) it is the positional information of described smart machine end, (x2, y2, z2) it is the position of described unmanned plane end
Confidence ceases；Described x1, y1, x2, y2Obtained by alignment sensor, described z1, z2Obtained by baroceptor.
A4, according to the monitoring system described in claim A3, it is characterised in that described tracking module adjust described unmanned plane
The mode of end flight, including:
When difference in height between described smart machine end and unmanned plane is fixed value, the flight speed controlling unmanned plane makes
The course distance obtained between unmanned plane and smart machine end keeps constant；
When difference in height between described smart machine end and unmanned plane is gradually reduced and is less than the first preset height difference, control
It is poor that the flying height difference of unmanned plane processed promotes described first preset height；
When difference in height between described smart machine end and unmanned plane is gradually increased and is more than the second preset height difference, control
It is poor that the flying height difference of unmanned plane processed promotes described first preset height；
When difference in height between described smart machine end and unmanned plane is gradually increased and is more than the second preset height difference, control
It is poor that the flying height difference of unmanned plane processed reduces described second preset height.
A5, according to the unmanned plane tracking described in claim any one of A2 to A4, it is characterised in that: when described intelligence
When equipment end translational speed exceedes preset range, described unmanned plane is according to the described real-time translational speed of smart machine end got
Data, adjust described unmanned plane speed, so that the distance between described unmanned plane and described smart machine end is at preset distance model
In enclosing.
A6, according to the monitoring system described in claim A1, it is characterised in that described smart machine end built-in instruction information
Generation module, for generating the second command information, described second command information is used for indicating unmanned plane to change its flight attitude, side
To and speed.
A7, according to the monitoring system described in claim A6, it is characterised in that described monitoring client is by described cloud service
Device sends the first command information to described smart machine end.
A8, according to the monitoring system described in claim A7, it is characterised in that:
Described first command information includes information uploading instructions and the instruction of the first UAV Flight Control；
Described information uploading instructions is used for indicating described smart machine end that described real time information is uploaded to described high in the clouds clothes
Business device；
Described first UAV Flight Control instruction, instruction unmanned plane stops following flight, and changes its flight in accordance with the instructions
Attitude, direction and speed；
Described second command information is the second UAV Flight Control instruction, and instruction unmanned plane stops following flight, and presses
Instruction changes its flight attitude, direction and speed.
A9, according to the monitoring system described in claim A8, it is characterised in that described smart machine end also includes judging mould
Block, when receiving described first command information, it is judged that after the instruction type of described first command information, described in being judged
Instruction type makes respective response: then described real time information is uploaded to described high in the clouds when receiving described information uploading instructions
Server, then sends it to described unmanned plane end when receiving the instruction of described UAV Flight Control.
A10, according to the monitoring system described in claim A8, it is characterised in that described first UAV Flight Control refers to
Make, relative to described second UAV Flight Control instruction, there is higher priority.
A11, according to the monitoring system described in claim A8, it is characterised in that when described smart machine termination receive institute
When stating the first UAV Flight Control instruction, described second command information generation module lost efficacy.
A12, according to the monitoring system described in claim A1, it is characterised in that described smart machine end is also built-in with:
First alignment sensor, for obtaining the enforcing location information of described smart machine end；
Memorizer, is used for storing described real time information；
Warning module, is used for generating early warning information.
A13, according to the monitoring system described in claim A12, it is characterised in that described real time information include described in real time
Positional information and described real-time audio-video information.
A14, according to the monitoring system described in claim A13, it is characterised in that described monitoring client set predeterminable area also
Carry out synchronize by described cloud server with described smart machine end, when described target to be monitored occurs in described predeterminable area
Time interior, described smart machine end uploads the real time information extremely described cloud server of described target to be monitored automatically, generates simultaneously
Described early warning information is also sent to described monitoring client by described cloud server.
A15, according to the monitoring system described in claim A13, it is characterised in that described monitoring client set predeterminable area also
Carry out synchronize by described cloud server with described smart machine end, when described target to be monitored is not in described predeterminable area
Time, described smart machine end is automatically uploaded the real time information extremely described cloud server of described target to be monitored, is generated institute simultaneously
State early warning information and sent to described monitoring client by described cloud server.
A16, according to the monitoring system described in claim A13, it is characterised in that quilt described in described smart machine end record
The position locus information of monitoring objective, and according to the record result of accumulation, the zone of action of described target to be monitored is divided into work
Dynamic high frequency region and movable low frequency range.
A17, according to the monitoring system described in claim A16, it is characterised in that when described target to be monitored occurs in institute
When stating movable low frequency range or disappear in described movable high frequency region, described smart machine end uploads the reality of described target to be monitored automatically
Time information to described cloud server, generate described early warning information and by the transmission extremely described monitoring of described cloud server simultaneously
End.
A18, according to the monitoring system described in any claim of claim A13 to A17, it is characterised in that described
Processor module obtains the described enforcing location information from described first alignment sensor, and is only receiving described early warning letter
During breath, described enforcing location information is sent to described monitoring client by described cloud server.
A19, monitoring system according to claim 1, it is characterised in that also include opening/closing unit, for open and
Close described unmanned plane end, after described unmanned plane termination receives open command, i.e. enter opening program, when described unmanned plane end
After being closed, then enter bolt down procedure.
A20, according to the monitoring system described in claim A19, it is characterised in that described opening program is: accept unlatching
Instruction；Activate all modules of unmanned plane end；Adjust the described smart machine end relative position size with described unmanned plane end in advance
If value；Offline mode is followed in entrance.
A21, according to the monitoring system described in claim A19, it is characterised in that described bolt down procedure is: accept closedown
Instruction；Enter landing procedure；Close all modules in addition to described second communication module that unmanned plane end is built-in.
A22, monitoring system according to claim 1, it is characterised in that also include avoidance module, be located at affiliated nothing
Inside man-machine end, comprising: the real-time detection module of environmental information, use multi-sensor fusion technology to realize the environment of surrounding and enter
The information detected also is transmitted to barrier Data Analysis Services module by row detection in real time；Barrier Data Analysis Services module
The environmental information of surrounding received carries out environmental structure perception build and determine residing barrier；Avoidance decision-making module is according to barrier
The output result hindering thing Data Analysis Services module determines avoidance decision-making and sends to flight control modules, by described flight control
Molding block realizes unmanned plane and hides peripheral obstacle.
A23, a kind of unmanned plane following target to be monitored flight, it is characterised in that including: tracking module is used for realizing nothing
Man-machine end follow flight；Taking module is for obtaining the real-time audio-video information of described target to be monitored and surrounding enviroment thereof；The
Two communication modules are used for instructing acceptance and information sends；Second alignment sensor and the second baroceptor are used for obtaining described nothing
The positional information of man-machine end；Flight control modules is for unmanned plane during flying attitude, speed, direction, the control of distance and adjustment.
A24, a kind of portable intelligent device end being attached to target to be monitored, it is characterised in that including:
Wireless fidelity module, for access communications network；
Touch-sensitive display, for display interface, it is achieved man-machine interaction；
First communication module, processor module, warning module, command information generation module, the first alignment sensor and
One baroceptor；
One or more processors；
Memorizer；
One or more application programs, wherein said one or more application programs are stored in described memorizer and quilt
It is configured to be performed by the one or more processor；
The one or more program is used for driving the one or more processor to be configured to perform claim A1
The module described in any one to A22.
Above system schema provided by the present invention is described in detail, for one of ordinary skill in the art,
According to the thought of the embodiment of the present invention, the most all will change, in sum, this theory
Bright book content should not be construed as limitation of the present invention.
Claims (10)
1. a monitoring system based on unmanned plane, it is characterised in that including: smart machine end, unmanned plane end, cloud server
And monitoring client；
Wherein, described smart machine end is attached to target to be monitored, built-in first communication module and processor module；
Described unmanned plane end is connected with described smart machine end, and built-in tracking module to be used for making described unmanned plane end to follow described
Smart machine end flies, and built-in taking module is used for obtaining the real-time audio-video information of described target to be monitored and surrounding enviroment thereof,
Built-in second communication module is for the information communication with described first communication module；
The real time information of described target to be monitored is uploaded to described cloud by described first communication module by described smart machine end
End server, described monitoring client obtains described real time information from described cloud server.
Monitoring system the most according to claim 1, it is characterised in that described unmanned plane end is set up with described smart machine end
Trusted channel, connects based on this, and described tracking module obtains the positional information of described smart machine end, and based on described unmanned plane
The positional information of end, is calculated the relative position of described unmanned plane end and described smart machine end, and by adjusting described nothing
The mode of man-machine end flight makes described relative position be preset value.
Monitoring system the most according to claim 1, it is characterised in that described smart machine end built-in instruction information generates mould
Block, for generating the second command information, described second command information is used for indicating unmanned plane to change its flight attitude, direction and speed
Degree.
Monitoring system the most according to claim 3, it is characterised in that described monitoring client is sent by described cloud server
First command information is to described smart machine end.
Monitoring system the most according to claim 4, it is characterised in that:
Described first command information includes information uploading instructions and the instruction of the first UAV Flight Control；
Described information uploading instructions is used for indicating described smart machine end that described real time information is uploaded to described cloud server；
Described first UAV Flight Control instruction, instruction unmanned plane stops following flight, and change in accordance with the instructions its flight attitude,
Direction and speed；
Described second command information is the second UAV Flight Control instruction, and instruction unmanned plane stops following flight, and in accordance with the instructions
Change its flight attitude, direction and speed.
Monitoring system the most according to claim 1, it is characterised in that described smart machine end is also built-in with: the first location
Sensor, for obtaining the enforcing location information of described smart machine end；Memorizer, is used for storing described real time information；Early warning
Module, is used for generating early warning information.
Monitoring system the most according to claim 1, it is characterised in that also include opening/closing unit, is used for opening and closing institute
State unmanned plane end, after described unmanned plane termination receives open command, i.e. enter opening program, when described unmanned plane end is closed
After, then enter bolt down procedure.
Monitoring system the most according to claim 1, it is characterised in that also include avoidance module, is located at affiliated unmanned plane end
Inside, comprising: the real-time detection module of environmental information, uses multi-sensor fusion technology to realize the environment of surrounding and carries out in real time
The information detected also is transmitted to barrier Data Analysis Services module by detection；Barrier Data Analysis Services module is to reception
The environmental information of surrounding carry out environmental structure perception and build and determine residing barrier；Avoidance decision-making module is according to barrier number
Determine avoidance decision-making according to the output result of analysis and processing module and send to flight control modules, by described flight control modules
Realize unmanned plane peripheral obstacle is hidden.
9. the unmanned plane following target to be monitored flight, it is characterised in that including: tracking module is used for realizing unmanned plane end
Follow flight；Taking module is for obtaining the real-time audio-video information of described target to be monitored and surrounding enviroment thereof；Second communication
Module is used for instructing acceptance and information sends；Second alignment sensor and the second baroceptor are used for obtaining described unmanned plane end
Positional information；Flight control modules is for unmanned plane during flying attitude, speed, direction, the control of distance and adjustment.
10. the portable intelligent device end being attached to target to be monitored, it is characterised in that including:
Wireless fidelity module, for access communications network；
Touch-sensitive display, for display interface, it is achieved man-machine interaction；
First communication module, processor module, warning module, command information generation module, the first alignment sensor and the first gas
Pressure sensor；
One or more processors；
Memorizer；
One or more application programs, wherein said one or more application programs are stored in described memorizer and are configured
For being performed by the one or more processor；
The one or more program is used for driving the one or more processor to be configured to perform in claim 1 to 8
Module described in any one.
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