CN105739536A - Unmanned plane monitoring method and system - Google Patents
Unmanned plane monitoring method and system Download PDFInfo
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- CN105739536A CN105739536A CN201610307053.7A CN201610307053A CN105739536A CN 105739536 A CN105739536 A CN 105739536A CN 201610307053 A CN201610307053 A CN 201610307053A CN 105739536 A CN105739536 A CN 105739536A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention provides an unmanned plane monitoring method and system. The method comprises the steps of: obtaining and recording flight data of an unmanned plane reported by a flight data recording device, wherein the flight data comprises position information of the unmanned plane; determining the flight data recording device bound with a user terminal when receiving a position request message sent from the user terminal; searching target position information, wherein the target position information is corresponding to the flight data recording device bound with the user terminal; and sending the target position information to the user terminal. According to the invention, the problems of large difficulty and low efficiency in searching due to that the missing point is currently difficult to position accurately after the missing of the unmanned plane are solved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle monitoring method and system.
Background
A drone, generally an unmanned aerial vehicle that performs tasks, operated by a radio remote control device or by its own programmed control device. Generally, a navigation flight control system, a program control device, a power supply device and the like are installed on the unmanned aerial vehicle. In recent years, unmanned aerial vehicles have the advantages of relatively low cost, no casualty risk, strong survivability, good maneuvering performance and the like, are widely applied to various fields, and have great military significance and economic status.
As mentioned above, most of the existing drones are controlled by an operator through a hand-held remote controller. The control range of the unmanned aerial vehicle by the operator is generally within the sight distance range of the operator or within the communication distance range of the unmanned aerial vehicle and the handheld remote controller.
However, the actual flight environment is often complicated and changeable, for example, when meeting strong magnetic field, the communication between unmanned aerial vehicle and the handheld remote controller receives the interference, or when unmanned aerial vehicle receives the striking impaired, or when unmanned aerial vehicle receives the control range that the striking flew out of the handheld remote controller, cause the unmanned aerial vehicle not to receive the control of handheld remote controller and fly the condition of losing easily, the condition that unmanned aerial vehicle lost appears promptly. Unmanned aerial vehicle loses the back, and operating personnel can only judge roughly the crash place according to the position before unmanned aerial vehicle accident, then look for unmanned aerial vehicle on a large scale, and it is big to look for the difficulty, and is inefficient.
Disclosure of Invention
The invention provides a method and a system for monitoring an unmanned aerial vehicle, which aim to solve the problems of high searching difficulty and low efficiency caused by difficulty in accurately positioning lost points after the existing unmanned aerial vehicle is lost.
In order to solve the problems, the invention discloses an unmanned aerial vehicle monitoring method, which comprises the following steps:
acquiring and recording the flight data of the unmanned aerial vehicle reported by the flight data recording device; wherein the flight data comprises: position information of the unmanned aerial vehicle;
when a position request message sent by a user terminal is received, determining a flight data recording device bound with the user terminal;
searching for target position information, wherein the target position information corresponds to a flight data recording device bound with the user terminal;
and sending the target position information to a user terminal.
Correspondingly, the invention also discloses an unmanned aerial vehicle monitoring system, which comprises:
the recording module is used for acquiring and recording the flight data of the unmanned aerial vehicle reported by the flight data recording device; wherein the flight data comprises: position information of the unmanned aerial vehicle;
the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining a flight data recording device bound with a user terminal when receiving a position request message sent by the user terminal;
the searching module is used for searching target position information, and the target position information corresponds to a flight data recording device bound with the user terminal;
and the sending module is used for sending the target position information to the user terminal.
Compared with the prior art, the invention at least comprises the following advantages:
according to the unmanned aerial vehicle monitoring scheme, the flight data of the unmanned aerial vehicle can be acquired and recorded through the flight data recording device, and when the position request message sent by the user terminal is received, the recorded flight data (such as position information) of the unmanned aerial vehicle is sent to the user terminal, so that a user can know the flight condition of the unmanned aerial vehicle in time, and the unmanned aerial vehicle is monitored in real time. Especially, when unmanned aerial vehicle accident, can be fast and accurate send the position information before the unmanned aerial vehicle accident for the user to the user can pinpoint unmanned aerial vehicle's accident place, has reduced the search degree of difficulty, has improved search efficiency.
Drawings
Fig. 1 is a flowchart illustrating steps of a method for monitoring an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flow chart illustrating steps of another drone monitoring method in accordance with an embodiment of the present invention;
fig. 3 is a block diagram of a structure of a monitoring system of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a block diagram of another drone monitoring system in an embodiment of the present invention;
FIG. 5 is a block diagram of an early warning module according to an embodiment of the present invention;
fig. 6 is a block diagram of another early warning module according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, a flowchart illustrating steps of a method for monitoring an unmanned aerial vehicle according to an embodiment of the present invention is shown. In this embodiment, the unmanned aerial vehicle monitoring method includes:
and step 102, acquiring and recording the flight data of the unmanned aerial vehicle reported by the flight data recording device.
The flight data recording device is generally used to record flight data (e.g., position, velocity, acceleration, etc.) of an aircraft during flight, and further, may record other data related to flight (e.g., environmental information such as air pressure, humidity, etc.).
In this embodiment, the flight data recorder is the flight data recorder who is suitable for to install on unmanned aerial vehicle, can carry out the record to data such as flying height, flying speed, course, flight acceleration and positional information of unmanned aerial vehicle. The flight data recording device can report the recorded flight data at each moment to the server, and the server can acquire and record the flight data reported by the flight data recording device.
And 104, determining the flight data recording device bound with the user terminal when receiving the position request message sent by the user terminal.
In this embodiment, the server may also establish a connection with the user terminal, and receive a location request message sent by the user terminal. The position request message may be used to request to acquire the position information of the drone, and as described above, the flight data recording device is installed on the drone, so that the flight data recording device bound to the user terminal needs to be determined first to acquire the requested position information of the drone.
And 106, searching target position information, wherein the target position information corresponds to a flight data recording device bound with the user terminal.
In this embodiment, the position information of each unmanned aerial vehicle reported by a plurality of different flight data recording devices can be recorded, different flight data recording devices have unique identifiers, and then, after the flight data recording device bound by the user terminal is determined, target position information can be found and obtained from the recorded position information of each unmanned aerial vehicle according to the unique identifier of the flight data recording device bound by the user terminal, and the target position information corresponds to the flight data recording device bound by the user terminal. That is to say, the target position information reported by the flight data recording device bound corresponding to the user terminal is searched and obtained from the recorded position information of each unmanned aerial vehicle. For example, according to the unique identifier of the flight data recording device B bound by the user terminal a, the position information reported by the flight data recording device B is searched and obtained, and the position information is the target position information.
And step 108, sending the target position information to the user terminal.
In this embodiment, after the user terminal sends the location request message to the server, the target location information sent by the server can be received, and then the current flight location of the unmanned aerial vehicle can be determined according to the target location information, so as to perform real-time monitoring on the unmanned aerial vehicle.
In summary, the method for monitoring the unmanned aerial vehicle according to this embodiment can obtain and record the flight data of the unmanned aerial vehicle through the flight data recording device, and send the recorded flight data (e.g., position information) of the unmanned aerial vehicle to the user terminal when receiving the position request message sent by the user terminal, so that the user can know the flight condition of the unmanned aerial vehicle in time and monitor the unmanned aerial vehicle in real time. Especially, when unmanned aerial vehicle accident, can be fast and accurate send the position information before the unmanned aerial vehicle accident for the user to the user can pinpoint unmanned aerial vehicle's accident place, has reduced the search degree of difficulty, has improved search efficiency.
Referring to fig. 2, a flowchart illustrating steps of another drone monitoring method in an embodiment of the present invention is shown. In this embodiment, the unmanned aerial vehicle monitoring method includes:
step 202, receiving a binding request message reported by a user terminal.
Step 204, judging whether the flight data recording device requested to be bound by the user terminal is in a bound state.
In this embodiment, one flight data recording device may correspond to one user terminal, in other words, the user terminal is bound to the flight data recording device. The user terminal can establish the binding relationship between the user terminal and the flight data recording device by sending a binding request message to the server. For example, the user terminal may, but is not limited to, generate the binding request message by scanning a two-dimensional code tag on the flight data recording device, and send the binding request message to the server to request establishment of a binding relationship with the scanned flight data recording device. For another example, the user terminal and the flight data recording device may be bound by NFC (near field communication), which is not limited in this embodiment.
Generally, a flight data recording device can exist in two states: a bound state and an unbound state. The method comprises the steps that when a server receives a binding request message reported by a user terminal, the binding state of a flight data recording device requested to be bound by the user terminal can be judged, and if the flight data recording device requested to be bound by the user terminal is determined to be in the binding state, a binding prompt message is generated; wherein the binding prompt message may be used to indicate that the current flight data recording device is bound, and the specific content of the binding prompt message includes but is not limited to: the binding can be continued only by first releasing the existing binding of the flight data recording device.
If it is determined that the flight data recording device requested to be bound by the user terminal is in an unbound state, the following step 206 is performed.
It should be noted that, in this embodiment, one flight data recording device can only bind to one user terminal, and one user terminal can bind to multiple flight data recording devices, and a user can select, through the user terminal, the multiple flight data recording devices bound to the user terminal, which is not limited in this embodiment.
Step 206, establishing a binding relationship between the user terminal and the flight data recording device requested to be bound by the user terminal.
And step 208, acquiring and recording the flight data of the unmanned aerial vehicle reported by the flight data recording device.
In this embodiment, the flight data recording device that reports the flight data of the unmanned aerial vehicle may be a flight data recording device that has established a binding relationship with the user terminal. The server can record the flight data of each unmanned aerial vehicle that each flight data recorder reported, wherein, each flight data recorder has unique sign, so, can be according to the unique sign of each flight data recorder to the flight data of record carries out the mark, and then establishes the corresponding relation between flight data recorder, unmanned aerial vehicle and the flight data three. Wherein the flight data includes, but is not limited to: position information of the drone.
Further, the flight data recording device may continuously report the flight data of the unmanned aerial vehicle, for example, continuously report the flight data of the unmanned aerial vehicle according to a set time interval, and of course, in order to reduce the equipment load and avoid resource waste, the flight data recording device may also periodically report the flight data of the unmanned aerial vehicle, where each period may include the flight data of the unmanned aerial vehicle at multiple moments, which is not limited in this embodiment.
Step 210, when receiving a position request message sent by a user terminal, determining a flight data recording device bound with the user terminal.
In this embodiment, in order to reduce resource consumption, the location information of the drone may be sent to the user terminal only when receiving the location request message sent by the user terminal, and of course, the real-time location information of the drone may also be continuously sent to the user terminal, which is not limited in this embodiment.
As described above, the server records the position information of the multiple unmanned aerial vehicles reported by the multiple flight data recording devices, and if the position information of the unmanned aerial vehicle is to be acquired, it is necessary to first determine that the user terminal is correspondingly bound with the flight data recording device. The position request message may carry a unique identifier of the bound flight data recording device, so that the flight data recording device corresponding to the unmanned aerial vehicle specifically requested by the user terminal may be determined according to the unique identifier of the flight data recording device carried in the position request message.
Step 212, target position information is searched, wherein the target position information corresponds to the flight data recording device bound with the user terminal.
Step 214, sending the target location information to the user terminal.
In the embodiment, the server and the user terminal, and the server and the flight data recording device can realize data transmission and transmission based on mobile communication and/or wireless communication, so that the safety, stability and long transmission distance of the data transmission and transmission are ensured.
In a preferable scheme of this embodiment, the method may further include:
and step 216, generating an early warning message according to the flight data, and sending the early warning message to the user terminal.
In this embodiment, the flight data may further include a flight speed of the drone; the early warning message includes but is not limited to: an anomaly indication message and an alarm message.
Wherein,
1. the generation and sending process of the abnormal indication message may be as follows:
and step 11, determining the flight speed of the unmanned aerial vehicle at the current moment, and the position information and the flight speed of the unmanned aerial vehicle at each time point in a previous preset sampling period of the current moment.
In this embodiment, the specific duration of the preset sampling period may be set according to an actual situation, which is not limited in this embodiment. Generally, a plurality of time points may be included in one preset sampling period, and the server may determine the position information and the flight speed of the drone at each time point in the previous preset sampling period to the current time.
And step 12, calculating to obtain the average acceleration of the unmanned aerial vehicle in the previous preset sampling period according to the position information and the flight speed of the unmanned aerial vehicle at each time point in the previous preset sampling period of the current time.
It will be appreciated by those skilled in the art that the average acceleration (a) may be calculated from the time (t), velocity (v) and distance(s). In this embodiment, each time point in the previous preset sampling period is known, the speed of each time point is known, and the position information of each time point is determined (corresponding to the distance is also determined), so that the average acceleration of the drone in the previous preset sampling period can be calculated.
And step 13, determining the estimated flight interval of the unmanned aerial vehicle at the next moment according to the flight speed of the unmanned aerial vehicle at the current moment and the average acceleration of the unmanned aerial vehicle in the previous preset sampling period.
In this embodiment, according to the flying speed of the unmanned aerial vehicle at the current moment and the average acceleration of the unmanned aerial vehicle in the previous preset sampling period, the distance that the unmanned aerial vehicle may fly in the time interval from the current moment to the next moment can be predicted, and then a fan-shaped or circular area can be determined by taking the predicted possible flying distance as a radius and taking the position of the unmanned aerial vehicle at the current moment as a fan center, and then the determined fan-shaped or circular area is determined as the predicted flying interval of the unmanned aerial vehicle at the next moment.
And step 14, acquiring second position information of the unmanned aerial vehicle at the next moment, which is reported by the flight data recording device at the next moment.
And step 15, judging whether the position indicated by the second position information is in the estimated flight interval.
And step 16, when the position indicated by the second position information is not in the estimated flight interval, generating an abnormal indication message, and sending the abnormal indication message to the user terminal.
In this embodiment, if the position indicated by the second position information is not within the estimated flight interval, it is indicated that the unmanned aerial vehicle may have an abnormal condition, and an abnormal indication message for indicating that the unmanned aerial vehicle is in an abnormal flight state may be generated. After the abnormal indication message is sent to the user terminal, the position information of the unmanned aerial vehicle can be continuously sent to the user terminal, so that the user can monitor the state of the unmanned aerial vehicle, determine whether the unmanned aerial vehicle has a flight fault, guarantee the flight safety of the unmanned aerial vehicle and find dangerous situations in time.
2. The generation and sending process of the alarm message may be as follows:
and step 21, when the early warning message reported by the flight data recording device is received, acquiring the position information of the unmanned aerial vehicle in the next preset sampling period at the current moment.
In this embodiment, the early warning message may include: and the flight speed and the position information of the unmanned aerial vehicle at the current moment.
It should be noted that, an inertial sensor may be included in the flight data recording device, and the inertial sensor may be used to detect the acceleration of the drone. When the flight data recording device acquires that the acceleration of the unmanned aerial vehicle at the current moment is larger than a set threshold value, the early warning message can be generated and reported, and meanwhile, the flight speed and position information of the unmanned aerial vehicle at the current moment are carried in the early warning message and reported to the server.
When the acceleration value detected by the inertial sensor exceeds a specified acceleration threshold value, the flight data recording device generates early warning information and sends the early warning information to the server, wherein the early warning information comprises the current speed and the acceleration.
And step 22, calculating to obtain a first acceleration of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the later preset sampling period and the flight speed and the flight acceleration of the unmanned aerial vehicle at the current moment.
As described above, in this embodiment, the first acceleration of the drone from the current time to the preset sampling period may be calculated according to a known motion calculation formula.
Step 23, judging whether the first acceleration is within a preset acceleration threshold range; and if not, generating an alarm message and sending the alarm message to the user terminal.
Generally, during normal flight of the unmanned aerial vehicle, the acceleration of the unmanned aerial vehicle is kept within a preset acceleration threshold range, and when the acceleration of the unmanned aerial vehicle exceeds the preset acceleration threshold, it indicates that the unmanned aerial vehicle may be in a dangerous situation. For example, when the unmanned aerial vehicle collides with an obstacle, the reverse acceleration of the unmanned aerial vehicle is very large and exceeds a preset acceleration threshold range; for another example, when the unmanned aerial vehicle loses power and crashes, the acceleration of the unmanned aerial vehicle reaches g, which is beyond the preset acceleration threshold range. Therefore, whether the unmanned aerial vehicle is in a dangerous situation can be determined according to whether the first acceleration is within a preset acceleration threshold range.
In this embodiment, when the first acceleration exceeds the preset acceleration threshold range, an alarm message may be generated and sent to the user terminal to prompt the user that the unmanned aerial vehicle is in a dangerous situation, so that the user can find out the dangerous situation in time. In addition, the server can also simultaneously generate the stored corresponding information for responding to the alarm message to the user so as to prompt the user to process the dangerous case in time. For example, the answer information includes, but is not limited to: promote flying height, change unmanned aerial vehicle flight course etc..
It should be noted that, the generation and sending of the abnormal indication message and the generation and sending of the warning message have no necessary sequence in the execution process, and may be executed simultaneously, which is not limited in this embodiment.
In a preferable scheme of this embodiment, the method may further include:
in step 218, the position information of the unmanned aerial vehicle at the current moment and the takeoff position information of the unmanned aerial vehicle are acquired.
And step 220, determining the flight distance of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle at the current moment and the takeoff position information of the unmanned aerial vehicle.
Step 222, calculating a difference value between the flight distance of the unmanned aerial vehicle and a preset maximum flight distance.
Step 224, judging whether the difference value is larger than a preset difference value; and if so, generating a distance alarm message.
Generally, most of the existing unmanned aerial vehicles are controlled by an operator through a handheld remote controller. The operator can only control the drone generally within range of sight. In this embodiment, whether the unmanned aerial vehicle has a risk exceeding the control range can be determined by comparing the difference value with a preset difference value, the difference value is greater than the preset difference value (that is, the situation that the flight exceeds the range may occur), and a distance warning message is generated in time to prompt a user, so that the user can avoid that the unmanned aerial vehicle exceeds the controllable range by changing the course and the like, and the flight safety of the unmanned aerial vehicle is ensured.
It should be noted that, in this embodiment, there is no necessary sequence between the step 216 and the step 218, and the steps may be executed simultaneously, which is not limited in this embodiment.
In summary, the method for monitoring the unmanned aerial vehicle according to this embodiment can obtain and record the flight data of the unmanned aerial vehicle through the flight data recording device, and send the recorded flight data (e.g., position information) of the unmanned aerial vehicle to the user terminal when receiving the position request message sent by the user terminal, so that the user can know the flight condition of the unmanned aerial vehicle in time and monitor the unmanned aerial vehicle in real time. Especially, when unmanned aerial vehicle accident, can be fast and accurate send the position information before the unmanned aerial vehicle accident for the user to the user can pinpoint unmanned aerial vehicle's accident place, has reduced the search degree of difficulty, has improved search efficiency.
In addition, the unmanned aerial vehicle monitoring method can monitor the unmanned aerial vehicle in real time, analyze and judge the state of the unmanned aerial vehicle according to the flight data monitored in real time, and timely send various kinds of early warning information such as abnormal indication information, warning information and distance warning information to the user when dangerous situations possibly occur or occur, so that the user can timely process the dangerous situations according to the early warning information, and the flight safety of the unmanned aerial vehicle is ensured.
It should be noted that the foregoing method embodiments are described as a series of acts or combinations for simplicity in explanation, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts or acts described, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Based on the same inventive concept as the above method embodiment, referring to fig. 3, a structural block diagram of an unmanned aerial vehicle monitoring system in the embodiment of the present invention is shown.
In this embodiment, the unmanned aerial vehicle monitoring system includes:
the recording module 302 is configured to acquire and record the flight data of the unmanned aerial vehicle reported by the flight data recording device.
In this embodiment, the flight data includes: position information of the drone.
The determining module 304 is configured to determine, when receiving a location request message sent by a user terminal, a flight data recording device bound to the user terminal.
A searching module 306, configured to search for target location information, where the target location information corresponds to a flight data recording device bound to the user terminal.
A sending module 308, configured to send the target location information to the user terminal.
Therefore, the unmanned aerial vehicle monitoring system can monitor the state of the unmanned aerial vehicle in real time. Especially, when unmanned aerial vehicle accident, can be fast and accurate send the position information before the unmanned aerial vehicle accident for the user to the user can pinpoint unmanned aerial vehicle's accident place, has reduced the search degree of difficulty, has improved search efficiency.
In a preferred aspect of this embodiment, referring to fig. 4, a block diagram of another unmanned aerial vehicle monitoring system in this embodiment of the present invention is shown.
Preferably, the unmanned aerial vehicle monitoring system may further include:
the receiving module 310 is configured to receive a binding request message reported by a user terminal.
A determining module 312, configured to determine whether the flight data recording device requested to be bound by the user terminal is in a bound state.
The first executing module 314 is configured to, when it is determined that the flight data recording device requested to be bound by the user terminal is in an unbound state, establish a binding relationship between the user terminal and the flight data recording device requested to be bound by the user terminal.
Preferably, the unmanned aerial vehicle monitoring system may further include:
and the early warning module 316 is configured to generate an early warning message according to the flight data, and send the early warning message to the user terminal.
In this embodiment, the flight data may further include: the flight speed of the unmanned aerial vehicle.
Wherein,
preferably, referring to fig. 5, a block diagram of a warning module in an embodiment of the present invention is shown. The early warning module 316 may specifically include:
the determining submodule 402 is configured to determine the flying speed of the drone at the current time, and the position information and the flying speed of the drone at each time point in a previous preset sampling period of the current time.
And the first calculation submodule 404 is configured to calculate, according to the position information and the flight speed of the unmanned aerial vehicle at each time point in a previous preset sampling period of the current time, an average acceleration of the unmanned aerial vehicle in the previous preset sampling period.
And the flight interval estimation submodule 406 is configured to determine an estimated flight interval of the unmanned aerial vehicle at the next moment according to the flight speed of the unmanned aerial vehicle at the current moment and the average acceleration of the unmanned aerial vehicle in the previous preset sampling period.
The first obtaining sub-module 408 is configured to obtain second position information of the unmanned aerial vehicle at the next moment, which is reported by the flight data recording device at the next moment.
A first determining sub-module 410, configured to determine whether the position indicated by the second position information is within the pre-estimated flight interval.
And the first early warning submodule 412 is configured to generate an abnormal indication message when the position indicated by the second position information is not within the estimated flight interval, send the abnormal indication message to the user terminal, and continuously send the position information of the unmanned aerial vehicle to the user terminal.
In another preferred embodiment, referring to fig. 6, a block diagram of another early warning module in the embodiment of the present invention is shown. The early warning module 316 may specifically include:
the second obtaining sub-module 502 is configured to, when receiving the early warning message reported by the flight data recording device, obtain the position information of the unmanned aerial vehicle in a next preset sampling period at the current time.
In this embodiment, the warning message includes: and the flight speed and the position information of the unmanned aerial vehicle at the current moment.
And a second calculation submodule 504, configured to calculate a first acceleration of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the next preset sampling period and the flight speed and the position information of the unmanned aerial vehicle at the current time.
And a second determining submodule 506, configured to determine whether the first acceleration is within a preset acceleration threshold range.
And the second early warning submodule 508 is configured to generate a warning message when the first acceleration is not within a preset acceleration threshold range, and send the warning message to the user terminal.
Preferably, the unmanned aerial vehicle monitoring system may further include:
the obtaining module 318 is configured to obtain the position information of the unmanned aerial vehicle at the current moment and the takeoff position information of the unmanned aerial vehicle.
And a flight distance determining module 320, configured to determine a flight distance of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle at the current time and the takeoff position information of the unmanned aerial vehicle.
A difference value calculating module 322, configured to calculate a difference value between the flight distance of the unmanned aerial vehicle and a preset maximum flight distance.
The difference determining module 324 is configured to determine whether the difference is greater than a preset difference.
A second executing module 326, configured to generate a distance warning message when the difference is greater than the preset difference.
In conclusion, the unmanned aerial vehicle monitoring system described in this embodiment can acquire and record the flight data of the unmanned aerial vehicle through the flight data recording device, and when receiving the position request message sent by the user terminal, send the flight data (e.g., position information) of the unmanned aerial vehicle to the user terminal, so that the user can know the flight condition of the unmanned aerial vehicle in time, and perform real-time monitoring on the unmanned aerial vehicle. Especially, when unmanned aerial vehicle accident, can be fast and accurate send the position information before the unmanned aerial vehicle accident for the user to the user can pinpoint unmanned aerial vehicle's accident place, has reduced the search degree of difficulty, has improved search efficiency.
In addition, the unmanned aerial vehicle monitoring system described in this embodiment can carry out real-time monitoring to unmanned aerial vehicle to carry out analysis and judgment to the state of unmanned aerial vehicle according to real-time monitoring's flight data, in time send all kinds of early warning information such as unusual instruction message, warning message and distance warning message to the user when dangerous situation or dangerous situation takes place probably to the user handles dangerous situation in time according to early warning message, has guaranteed unmanned aerial vehicle's flight safety.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The unmanned aerial vehicle monitoring method and system provided by the invention are described in detail, specific examples are applied in the method to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (14)
1. An unmanned aerial vehicle monitoring method is characterized by comprising the following steps:
acquiring and recording the flight data of the unmanned aerial vehicle reported by the flight data recording device; wherein the flight data comprises: position information of the unmanned aerial vehicle;
when a position request message sent by a user terminal is received, determining a flight data recording device bound with the user terminal;
searching for target position information, wherein the target position information corresponds to a flight data recording device bound with the user terminal;
and sending the target position information to a user terminal.
2. The method of claim 1, further comprising:
receiving a binding request message reported by a user terminal;
judging whether the flight data recording device requested to be bound by the user terminal is in a binding state;
and if the flight data recording device requested to be bound by the user terminal is determined to be in an unbound state, establishing a binding relationship between the user terminal and the flight data recording device requested to be bound by the user terminal.
3. The method of claim 1, further comprising:
and generating an early warning message according to the flight data, and sending the early warning message to the user terminal.
4. The method of claim 3, wherein the flight data further comprises: the flight speed of the unmanned aerial vehicle.
5. The method of claim 4, wherein generating the warning message according to the flight data and sending the warning message to the user terminal comprises:
determining the flight speed of the unmanned aerial vehicle at the current moment, and the position information and the flight speed of the unmanned aerial vehicle at each time point in a previous preset sampling period of the current moment;
calculating to obtain the average acceleration of the unmanned aerial vehicle in the previous preset sampling period according to the position information and the flight speed of the unmanned aerial vehicle at each time point in the previous preset sampling period of the current moment;
determining an estimated flight interval of the unmanned aerial vehicle at the next moment according to the flight speed of the unmanned aerial vehicle at the current moment and the average acceleration of the unmanned aerial vehicle in the previous preset sampling period;
acquiring second position information of the unmanned aerial vehicle at the next moment, which is reported by a flight data recording device at the next moment;
judging whether the position indicated by the second position information is in the estimated flight interval or not; and if not, generating an abnormal indication message, sending the abnormal indication message to a user terminal, and continuously sending the position information of the unmanned aerial vehicle to the user terminal.
6. The method of claim 4, wherein generating the warning message according to the flight data and sending the warning message to the user terminal comprises:
when an early warning message reported by a flight data recording device is received, acquiring the position information of the unmanned aerial vehicle in a next preset sampling period at the current moment; wherein, the early warning message comprises: flight speed and position information of the unmanned aerial vehicle at the current moment;
calculating to obtain a first acceleration of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the later preset sampling period and the flight speed and position information of the unmanned aerial vehicle at the current moment;
judging whether the first acceleration is within a preset acceleration threshold range; and if not, generating an alarm message and sending the alarm message to the user terminal.
7. The method of claim 1, further comprising:
acquiring the position information of the unmanned aerial vehicle at the current moment and the takeoff position information of the unmanned aerial vehicle;
determining the flight distance of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle at the current moment and the takeoff position information of the unmanned aerial vehicle;
calculating a difference value between the flight distance of the unmanned aerial vehicle and a preset maximum flight distance;
judging whether the difference value is larger than a preset difference value or not; and if so, generating a distance alarm message.
8. An unmanned aerial vehicle monitored control system, its characterized in that includes:
the recording module is used for acquiring and recording the flight data of the unmanned aerial vehicle reported by the flight data recording device; wherein the flight data comprises: position information of the unmanned aerial vehicle;
the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining a flight data recording device bound with a user terminal when receiving a position request message sent by the user terminal;
the searching module is used for searching target position information, and the target position information corresponds to a flight data recording device bound with the user terminal;
and the sending module is used for sending the target position information to the user terminal.
9. The system of claim 8, further comprising:
the receiving module is used for receiving the binding request message reported by the user terminal;
the judging module is used for judging whether the flight data recording device requested to be bound by the user terminal is in a binding state;
the first execution module is used for establishing a binding relationship between the user terminal and the flight data recording device requested to be bound by the user terminal when the flight data recording device requested to be bound by the user terminal is determined to be in an unbound state.
10. The system of claim 8, further comprising:
and the early warning module is used for generating an early warning message according to the flight data and sending the early warning message to the user terminal.
11. The system of claim 10, wherein the flight data further comprises: the flight speed of the unmanned aerial vehicle.
12. The system of claim 11, wherein the early warning module comprises:
the determining submodule is used for determining the flight speed of the unmanned aerial vehicle at the current moment, and the position information and the flight speed of the unmanned aerial vehicle at each time point in a previous preset sampling period of the current moment;
the first calculation submodule is used for calculating and obtaining the average acceleration of the unmanned aerial vehicle in a previous preset sampling period according to the position information and the flight speed of the unmanned aerial vehicle at each time point in the previous preset sampling period of the current time;
the flight interval estimation submodule is used for determining the estimated flight interval of the unmanned aerial vehicle at the next moment according to the flight speed of the unmanned aerial vehicle at the current moment and the average acceleration of the unmanned aerial vehicle in the previous preset sampling period;
the first obtaining submodule is used for obtaining second position information of the unmanned aerial vehicle at the next moment, which is reported by the flight data recording device at the next moment;
the first judgment submodule is used for judging whether the position indicated by the second position information is in the estimated flight interval or not;
and the first early warning submodule is used for generating an abnormal indication message when the position indicated by the second position information is not in the estimated flight interval, sending the abnormal indication message to a user terminal, and continuously sending the position information of the unmanned aerial vehicle to the user terminal.
13. The system of claim 11, wherein the early warning module comprises:
the second obtaining submodule is used for obtaining the position information of the unmanned aerial vehicle in a next preset sampling period at the current moment when the early warning message reported by the flight data recording device is received; wherein, the early warning message comprises: flight speed and position information of the unmanned aerial vehicle at the current moment;
the second calculation submodule is used for calculating to obtain a first acceleration of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the next preset sampling period and the flight speed and the position information of the unmanned aerial vehicle at the current moment;
the second judgment submodule is used for judging whether the first acceleration is within a preset acceleration threshold range;
and the second early warning submodule is used for generating a warning message when the first acceleration is not within a preset acceleration threshold range, and sending the warning message to the user terminal.
14. The system of claim 8, further comprising:
the acquiring module is used for acquiring the position information of the unmanned aerial vehicle at the current moment and the takeoff position information of the unmanned aerial vehicle;
the flight distance determining module is used for determining the flight distance of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle at the current moment and the takeoff position information of the unmanned aerial vehicle;
the difference value calculation module is used for calculating the difference value between the flight distance of the unmanned aerial vehicle and the preset maximum flight distance;
the difference value judging module is used for judging whether the difference value is larger than a preset difference value or not;
and the second execution module is used for generating a distance warning message when the difference value is greater than the preset difference value.
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