CN116939169B - Multifunctional aircraft monitoring method and system - Google Patents
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Abstract
The invention relates to the field of aircraft control, and discloses a multifunctional aircraft monitoring method and system, comprising the steps of collecting ground image data corresponding to a test airspace for testing an aircraft; the method comprises the steps that communication is established between an aircraft control module and a matched cloud communication service module, identity information of the aircraft control module is sent to the cloud communication service module, communication is established between the aircraft and the matched cloud communication service module, identity information sent by the aircraft control module which is in communication with the cloud communication service module is subjected to identity matching, the aircraft sends the position information of the aircraft and the acquired topographic image information to the cloud communication service module, the aircraft control module sets a landing position, a landing path is planned to be obtained, the landing path is sent to the cloud communication service module, and the aircraft lands according to the landing path, so that aircraft monitoring is completed. Through the technical scheme of the invention, the safety control of the aircraft can be realized.
Description
Technical Field
The invention relates to the field of aircraft control, in particular to a multifunctional aircraft monitoring system and method.
Background
The application of the existing aircraft in the fields of aerial photography, agriculture, plant protection, self-photographing, express delivery transportation, disaster relief, wild animal observation, infectious disease monitoring, mapping, news reporting, electric power inspection, disaster relief, video shooting and the like greatly expands the application of the aircraft, and simultaneously brings higher requirements to the development of the aircraft technology;
because the aircraft is controlled through wireless connection, when the conditions such as shielding object shielding or signal interference occur, and the control signal is weak, and the aircraft cannot be effectively controlled, how to ensure the safe return of the aircraft or to carry out effective control again is the subject of research required by researchers in the current industry.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multifunctional aircraft monitoring method, which comprises the following steps:
step one, acquiring ground image data corresponding to a test airspace for testing an aircraft, and matching a cloud communication service module for an aircraft control module and the aircraft;
acquiring signal intensity and distance between the aircraft and the aircraft control module, if the signal intensity is lower than the set signal intensity or the distance between the aircraft and the aircraft control module is greater than the set distance, the aircraft enters a hovering state, the aircraft control module establishes communication with a matched cloud communication service module, and sends identity information of the aircraft control module to the cloud communication service module, and entering a step III;
establishing communication between the aircraft and the matched cloud communication service module, and after the communication between the aircraft and the cloud communication service module is established, transmitting the identity information of the aircraft control module to the cloud communication service module by the aircraft;
step four, the cloud communication service module performs identity matching with the identity information sent by the aircraft control module which has established communication with the cloud communication service module according to the identity information sent by the aircraft control module, and if the matching is successful, the step six is entered; if the matching is unsuccessful, entering a step five;
fifthly, the cloud communication service module continues to perform identity matching with the connected aircraft control module, if the cloud communication service module is matched with the aircraft control module within the hoverable duration of the aircraft, the step six is entered, and if the cloud communication service module is not matched with the aircraft control module, the aircraft drops to a reserved landing position;
step six, the cloud communication service module establishes a corresponding flight control container, the aircraft sends the position information of the aircraft and the acquired topographic image information to the corresponding flight control container, the corresponding flight control container is in communication connection with the aircraft control module, the aircraft control module matches the position information of the aircraft and the acquired topographic image information with topographic data corresponding to a test airspace according to the aircraft, the height of the aircraft from the ground is obtained through matching, the aircraft control module sets a landing position according to the position information and the height information of the aircraft, a landing path is planned to be obtained, the landing path is sent to the corresponding flight control container, and the aircraft lands according to the landing path, so that aircraft monitoring is completed.
Further, the collecting the ground image data corresponding to the test airspace for testing the aircraft comprises the following steps:
s1, acquiring coordinates of a to-be-mapped ground, and building the mapped ground according to the coordinates to obtain the transverse length and the longitudinal length of the mapped ground;
s2, setting a mapping height according to the established mapping ground, taking the transverse direction as the mapping direction, dividing the mapping ground into a plurality of transverse mapping areas according to the picture width acquired by mapping equipment at the set mapping height and the longitudinal length of the mapping ground, respectively acquiring transverse mapping pictures of the plurality of transverse mapping areas through mapping equipment subjected to consistency verification, and splicing the acquired transverse mapping pictures to obtain the transverse mapping pictures of the ground to be tested;
s3, dividing the mapping ground into a plurality of longitudinal mapping grounds according to the width of a picture acquired by mapping equipment at the set mapping height by taking the longitudinal direction as the mapping direction and the transverse length of the mapping ground, and respectively acquiring longitudinal mapping partition charts;
s4, dividing the obtained ground transverse mapping graph to be measured into a plurality of longitudinal partition graphs of the transverse mapping graph according to the longitudinal mapping direction, wherein the longitudinal partition graphs of the transverse mapping graph correspond to the longitudinal mapping partition graphs respectively;
s5, carrying out image comparison on the longitudinal partition map of the transverse map and the corresponding longitudinal mapping partition map one by one, wherein the image comparison comprises obtaining image similarity, and if the image similarity of the longitudinal partition map of the transverse map and the corresponding longitudinal mapping partition map is not smaller than the set image similarity, acquiring the image data to be qualified; otherwise, entering a step six;
s6, extracting a longitudinal partition map of the transverse map with image similarity smaller than the set image similarity, detecting the coincidence rate of each transverse partition in the longitudinal partition map of the transverse map and the corresponding ground in the corresponding longitudinal map, screening out the transverse partition with the coincidence rate smaller than the set image similarity, re-acquiring the ground image data, performing similarity detection on the re-acquired image data, and if the ground image data is qualified, replacing the ground image data in the transverse map to obtain a corrected transverse map, and completing the ground image data acquisition.
Further, the step of respectively obtaining the transverse mapping map for the plurality of transverse mapping areas through mapping equipment subjected to consistency verification comprises the following steps: according to the number of the transverse mapping areas, configuring a corresponding number of aircraft image acquisition devices, and carrying out consistency check on the configured aircraft image acquisition devices, wherein the consistency check comprises flight stability consistency check, and after the consistency check, all the aircraft image acquisition devices simultaneously carry out image acquisition on each transverse mapping area.
Further, the landing of the aircraft to the predetermined landing position includes:
obtaining the distance between the aircraft and the preset landing position, obtaining the required electric quantity for reaching the preset landing position, obtaining the hovering consumable electric quantity according to the difference value of the residual electric quantity of the aircraft and the electric quantity required for reaching the preset landing position, obtaining the hovering duration according to the hovering consumable electric quantity, and landing the aircraft to the preset landing position if the aircraft does not receive the control signal of the aircraft control module sent by the cloud communication service module in the hovering duration.
The multifunctional aircraft monitoring system applying the multifunctional aircraft monitoring method comprises a cloud communication service module, an aircraft state detection device, a communication switching module and an aircraft control module;
the aircraft state detection device and the aircraft control module are respectively connected with the communication switching module, the aircraft control module is also connected with the cloud communication service module, and the communication switching module is connected with the cloud communication service module.
Preferably, the cloud communication service module comprises a cloud communication service node, an image matching module and a data processing module; the cloud communication service node and the image matching module are respectively connected with the data processing module.
The beneficial effects of the invention are as follows: according to the technical scheme provided by the invention, the safety control of the aircraft can be realized, the position of the aircraft can be obtained through the image data obtained by the aircraft, and then the environment of the aircraft can be obtained, so that data is provided for path planning.
Drawings
FIG. 1 is a flow diagram of a method of monitoring a multi-functional aircraft;
fig. 2 is a schematic diagram of a multifunctional aircraft monitoring system.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
For the purpose of making the technical solution and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention. It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The features and capabilities of the present invention are described in further detail below in connection with the examples.
As shown in fig. 1, a multifunctional aircraft monitoring method includes the following steps:
step one, acquiring ground image data corresponding to a test airspace for testing an aircraft, and matching a cloud communication service module for an aircraft control module and the aircraft;
acquiring signal intensity and distance between the aircraft and the aircraft control module, if the signal intensity is lower than the set signal intensity or the distance between the aircraft and the aircraft control module is greater than the set distance, the aircraft enters a hovering state, the aircraft control module establishes communication with a matched cloud communication service module, and sends identity information of the aircraft control module to the cloud communication service module, and entering a step III;
establishing communication between the aircraft and the matched cloud communication service module, and sending identity information of an aircraft control module to the cloud communication service module by the aircraft;
step four, the cloud communication service module performs identity matching with the identity information sent by the aircraft control module which establishes communication with the cloud communication service module according to the identity information sent by the aircraft control module, and if the matching is successful, the step six is entered; if the matching is unsuccessful, entering a step five;
fifthly, the cloud communication service module continues to perform identity matching with the connected aircraft control module, if the cloud communication service module is matched with the aircraft control module within the hoverable duration of the aircraft, the step six is entered, and if the cloud communication service module is not matched with the aircraft control module, the aircraft drops to a reserved landing position;
step six, the cloud communication service module establishes a corresponding flight control container, the aircraft sends the position information of the aircraft and the acquired topographic image information to the corresponding flight control container, the corresponding flight control container is in communication connection with the aircraft control module, the aircraft control module matches the position information of the aircraft and the acquired topographic image information with topographic data corresponding to a test airspace according to the aircraft, the height of the aircraft from the ground is obtained through matching, the aircraft control module sets a landing position according to the position information and the height information of the aircraft, a landing path is planned to be obtained, the landing path is sent to the corresponding flight control container, and the aircraft lands according to the landing path, so that aircraft monitoring is completed.
The flight control container uniquely corresponds to the aircraft, and comprises an identity information recognition module, and after the identity information of the connected aircraft control module is recognized and passed, the information sent by the aircraft control module is received.
The acquisition of ground image data corresponding to a test airspace for testing an aircraft comprises the following steps:
s1, acquiring coordinates of a to-be-mapped ground, and building the mapped ground according to the coordinates to obtain the transverse length and the longitudinal length of the mapped ground;
s2, setting a mapping height according to the established mapping ground, taking the transverse direction as the mapping direction, dividing the mapping ground into a plurality of transverse mapping areas according to the picture width acquired by mapping equipment at the set mapping height and the longitudinal length of the mapping ground, respectively acquiring transverse mapping pictures of the plurality of transverse mapping areas through mapping equipment subjected to consistency verification, and splicing the acquired transverse mapping pictures to obtain the transverse mapping pictures of the ground to be tested;
s3, dividing the mapping ground into a plurality of longitudinal mapping grounds according to the width of a picture acquired by mapping equipment at the set mapping height by taking the longitudinal direction as the mapping direction and the transverse length of the mapping ground, and respectively acquiring longitudinal mapping partition charts;
s4, dividing the obtained ground transverse mapping graph to be measured into a plurality of longitudinal partition graphs of the transverse mapping graph according to the longitudinal mapping direction, wherein the longitudinal partition graphs of the transverse mapping graph correspond to the longitudinal mapping partition graphs respectively;
s5, carrying out image comparison on the longitudinal partition map of the transverse map and the corresponding longitudinal mapping partition map one by one, wherein the image comparison comprises obtaining image similarity, and if the image similarity of the longitudinal partition map of the transverse map and the corresponding longitudinal mapping partition map is not smaller than the set image similarity, acquiring the image data to be qualified; otherwise, entering a step six;
s6, extracting a longitudinal partition map of the transverse map with image similarity smaller than the set image similarity, detecting the coincidence rate of each transverse partition in the longitudinal partition map of the transverse map and the corresponding ground in the corresponding longitudinal map, screening out the transverse partition with the coincidence rate smaller than the set image similarity, re-acquiring the ground image data, performing similarity detection on the re-acquired image data, and if the ground image data is qualified, replacing the ground image data in the transverse map to obtain a corrected transverse map, and completing the ground image data acquisition.
The device for respectively acquiring the transverse mapping images of the plurality of transverse mapping areas through mapping equipment subjected to consistency verification comprises: according to the number of the transverse mapping areas, configuring a corresponding number of aircraft image acquisition devices, and carrying out consistency check on the configured aircraft image acquisition devices, wherein the consistency check comprises flight stability consistency check, and after the consistency check, all the aircraft image acquisition devices simultaneously carry out image acquisition on each transverse mapping area.
The aircraft is landed to a reserved landing position, and the landing method comprises the following steps:
obtaining the distance between the aircraft and the preset landing position, obtaining the required electric quantity for reaching the preset landing position, obtaining the hovering consumable electric quantity according to the difference value of the residual electric quantity of the aircraft and the electric quantity required for reaching the preset landing position, obtaining the hovering duration according to the hovering consumable electric quantity, and landing the aircraft to the preset landing position if the aircraft does not receive the control signal of the aircraft control module sent by the cloud communication service module in the hovering duration.
As shown in fig. 2, the multifunctional aircraft monitoring system applying the multifunctional aircraft monitoring method comprises a cloud communication service module, an aircraft state detection device, a communication switching module and an aircraft control module;
the aircraft state detection device and the aircraft control module are respectively connected with the communication switching module, the aircraft control module is also connected with the cloud communication service module, and the communication switching module is connected with the cloud communication service module.
The cloud communication service module comprises a cloud communication service node, an image matching module and a data processing module; the cloud communication service node and the image matching module are respectively connected with the data processing module.
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (6)
1. A method of monitoring a multi-functional aircraft, comprising the steps of:
step one, acquiring ground image data corresponding to a test airspace for testing an aircraft, and matching a cloud communication service module for an aircraft control module and the aircraft;
acquiring signal intensity and distance between the aircraft and the aircraft control module, if the signal intensity is lower than the set signal intensity or the distance between the aircraft and the aircraft control module is greater than the set distance, the aircraft enters a hovering state, the aircraft control module establishes communication with a matched cloud communication service module, and sends identity information of the aircraft control module to the cloud communication service module, and entering a step III;
thirdly, after the aircraft establishes communication with the cloud communication service module, the aircraft sends the identity information of the aircraft control module to the cloud communication service module;
step four, the cloud communication service module performs identity matching with the identity information sent by the aircraft control module which establishes communication with the cloud communication service module according to the identity information sent by the aircraft control module, and if the matching is successful, the step six is entered; if the matching is unsuccessful, entering a step five;
fifthly, the cloud communication service module continues to perform identity matching with the connected aircraft control module, if the cloud communication service module is matched with the aircraft control module within the hoverable duration of the aircraft, the step six is entered, and if the cloud communication service module is not matched with the aircraft control module, the aircraft drops to a reserved landing position;
step six, the cloud communication service module establishes a corresponding flight control container, the aircraft sends the position information of the aircraft and the acquired topographic image information to the corresponding flight control container, the corresponding flight control container is in communication connection with the aircraft control module, the aircraft control module matches the position information of the aircraft and the acquired topographic image information with topographic data corresponding to a test airspace according to the aircraft, the height of the aircraft from the ground is obtained through matching, the aircraft control module sets a landing position according to the position information and the height information of the aircraft, a landing path is planned to be obtained, the landing path is sent to the corresponding flight control container, and the aircraft lands according to the landing path, so that aircraft monitoring is completed.
2. The method for monitoring a multi-functional aircraft according to claim 1, wherein the step of acquiring the ground image data corresponding to the test airspace for testing the aircraft comprises the steps of:
s1, acquiring coordinates of a to-be-mapped ground, and building the mapped ground according to the coordinates to obtain the transverse length and the longitudinal length of the mapped ground;
s2, setting a mapping height according to the established mapping ground, taking the transverse direction as the mapping direction, dividing the mapping ground into a plurality of transverse mapping areas according to the picture width acquired by mapping equipment at the set mapping height and the longitudinal length of the mapping ground, respectively acquiring transverse mapping pictures of the plurality of transverse mapping areas through mapping equipment subjected to consistency verification, and splicing the acquired transverse mapping pictures to obtain the transverse mapping pictures of the ground to be tested;
s3, dividing the mapping ground into a plurality of longitudinal mapping grounds according to the width of a picture acquired by mapping equipment at the set mapping height by taking the longitudinal direction as the mapping direction and the transverse length of the mapping ground, and respectively acquiring longitudinal mapping partition charts;
s4, dividing the obtained ground transverse mapping graph to be measured into a plurality of longitudinal partition graphs of the transverse mapping graph according to the longitudinal mapping direction, wherein the longitudinal partition graphs of the transverse mapping graph correspond to the longitudinal mapping partition graphs respectively;
s5, carrying out image comparison on the longitudinal partition map of the transverse map and the corresponding longitudinal mapping partition map one by one, wherein the image comparison comprises obtaining image similarity, and if the image similarity of the longitudinal partition map of the transverse map and the corresponding longitudinal mapping partition map is not smaller than the set image similarity, acquiring the image data to be qualified; otherwise, entering a step six;
s6, extracting a longitudinal partition map of the transverse map with image similarity smaller than the set image similarity, detecting the coincidence rate of each transverse partition in the longitudinal partition map of the transverse map and the corresponding ground in the corresponding longitudinal map, screening out the transverse partition with the coincidence rate smaller than the set image similarity, re-acquiring the ground image data, performing similarity detection on the re-acquired image data, and if the ground image data is qualified, replacing the ground image data in the transverse map to obtain a corrected transverse map, and completing the ground image data acquisition.
3. The method for monitoring and controlling a multi-functional aircraft according to claim 2, wherein the step of acquiring the lateral map for each of the plurality of lateral map areas by the consistency-checked mapping apparatus comprises: according to the number of the transverse mapping areas, configuring a corresponding number of aircraft image acquisition devices, and carrying out consistency check on the configured aircraft image acquisition devices, wherein the consistency check comprises flight stability consistency check, and after the consistency check, all the aircraft image acquisition devices simultaneously carry out image acquisition on each transverse mapping area.
4. A method of monitoring a multi-functional aircraft according to claim 3, wherein the aircraft is dropped to a predetermined drop location, comprising:
obtaining the distance between the aircraft and the preset landing position, obtaining the required electric quantity for reaching the preset landing position, obtaining the hovering consumable electric quantity according to the difference value of the residual electric quantity of the aircraft and the electric quantity required for reaching the preset landing position, obtaining the hovering duration according to the hovering consumable electric quantity, and landing the aircraft to the preset landing position if the aircraft does not receive the control signal of the aircraft control module sent by the cloud communication service module in the hovering duration.
5. A multifunctional aircraft monitoring system, which is characterized by applying the multifunctional aircraft monitoring method according to any one of claims 1-4, and comprising a cloud communication service module, an aircraft state detection device, a communication switching module and an aircraft control module;
the aircraft state detection device and the aircraft control module are respectively connected with the communication switching module, the aircraft control module is also connected with the cloud communication service module, and the communication switching module is connected with the cloud communication service module.
6. The system of claim 5, wherein the cloud communication service module comprises a cloud communication service node, an image matching module and a data processing module; the cloud communication service node and the image matching module are respectively connected with the data processing module.
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