CN107291100B - Monitoring method based on unmanned aerial vehicle - Google Patents
Monitoring method based on unmanned aerial vehicle Download PDFInfo
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- CN107291100B CN107291100B CN201710552939.2A CN201710552939A CN107291100B CN 107291100 B CN107291100 B CN 107291100B CN 201710552939 A CN201710552939 A CN 201710552939A CN 107291100 B CN107291100 B CN 107291100B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides a monitoring method based on an unmanned aerial vehicle, which comprises the steps of obtaining regional position information of a region to be monitored, taking the position of an unmanned aerial vehicle base station as a middle point, calculating a first navigation path between a starting point and the middle point by the unmanned aerial vehicle according to electronic map data, calculating a second navigation path between the middle point and the central position of the region to be monitored by a target unmanned aerial vehicle according to the electronic map data, moving the target unmanned aerial vehicle to the monitoring region according to the first navigation path and the second navigation path, obtaining a video image in the monitoring region, sending the video image to a controller, analyzing the received video image by the controller, and judging whether to send out a warning or not. In the invention, the base station of the unmanned aerial vehicle is used as a middle point, and the whole navigation path is divided into a plurality of navigation paths for calculation, so that the calculation amount in each calculation is reduced, the unmanned aerial vehicle can reach a monitoring area more quickly when monitoring operation is carried out by using the unmanned aerial vehicle, and the intelligence of the unmanned aerial vehicle is improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle monitoring, in particular to a monitoring method based on an unmanned aerial vehicle.
Background
Although the unmanned aerial vehicle technology is continuously developed, the unmanned aerial vehicle is applied more frequently in various industries. For example, the unmanned aerial vehicle is used for spraying pesticide on a farmland, taking pictures at high altitude, operating in a sensitive area of the unmanned aerial vehicle or tracking the unmanned aerial vehicle.
When using unmanned aerial vehicle to carry out various operations, unmanned aerial vehicle more intelligent flight, it is one of researcher's research direction among the prior art to reduce control personnel's burden. The prior art provides some unmanned aerial vehicle navigation methods, and the main ideas are as follows: obtaining various topographic information according to the existing electronic map data, determining a complete navigation path according to the starting point and the end point, and setting the unmanned aerial vehicle to fly according to the navigation path.
However, in the prior art, if the distance between the starting point and the ending point is long, it takes a long time to calculate the navigation path, and when there is a temporary path adjustment, it is necessary to recalculate the whole navigation path, which occupies a large amount of computing resources, so that the unmanned aerial vehicle cannot perform work well during operation.
Disclosure of Invention
The invention provides a monitoring method based on an unmanned aerial vehicle, which can reduce the path calculation amount and quickly acquire a navigation path, thereby smoothly acquiring a monitoring video image in an area to be monitored.
A drone-based monitoring method, wherein the method comprises:
presetting the position information of a starting point and the area position information of an area to be monitored of a target unmanned aerial vehicle;
the target unmanned aerial vehicle determines the position of a target unmanned aerial vehicle base station which is closest to the unmanned aerial vehicle at present, and takes the position of the target unmanned aerial vehicle base station as an intermediate point;
the target unmanned aerial vehicle calculates a first navigation path between the starting point and the intermediate point according to electronic map data, and moves to the target unmanned aerial vehicle base station according to the first navigation path;
the target unmanned aerial vehicle calculates a second navigation path between the intermediate point and the central position of the area to be monitored according to the electronic map data, and moves to the position above the central position of the monitored area according to the second navigation path;
the target unmanned aerial vehicle acquires video images in the monitoring area according to a preset monitoring route and sends the video images to a controller of a remote control center through wireless communication;
the controller analyzes the received video image, judges whether the video image meets the alarm condition, and sends out a warning if the video image meets the alarm condition.
Preferably, the moving the target drone to the target drone base station according to the first navigation path includes:
the target unmanned aerial vehicle sends the first navigation path to the target unmanned aerial vehicle base station;
the target unmanned aerial vehicle base station adjusts the first navigation path according to the received navigation paths sent by the unmanned aerial vehicles to obtain a third navigation path;
the target unmanned aerial vehicle base station sends the third navigation path to the target unmanned aerial vehicle;
and the target unmanned aerial vehicle moves to the target unmanned aerial vehicle base station according to the third navigation path.
Preferably, the adjusting, by the target drone base station, the first navigation path according to the received navigation path sent by each drone to obtain a third navigation path includes:
the target unmanned aerial vehicle base station compares all navigation paths to determine an overlapped road section, wherein the overlapped road section is a common part of at least two navigation paths;
the target unmanned aerial vehicle base station judges whether the overlapped road sections exist in the first navigation path, and if so, the target unmanned aerial vehicle base station replans the overlapped road sections in the first navigation path to obtain non-overlapped road sections;
the target unmanned aerial vehicle base station generates the third navigation path according to the non-overlapping road section and the first navigation path.
Preferably, the adjusting, by the target drone base station, the first navigation path according to the received navigation path sent by each drone to obtain a third navigation path includes:
the target unmanned aerial vehicle base station receives flight plan information sent by each unmanned aerial vehicle, wherein the flight plan information comprises takeoff time, flight speed and flight height;
the target unmanned aerial vehicle base station judges whether an encountering point exists between the target unmanned aerial vehicle and other unmanned aerial vehicles on the first navigation path or not according to the flight plan information;
if the target unmanned aerial vehicle base station exists, setting an avoidance road section by taking the meeting point as a central point and a preset distance as a radius;
and the target unmanned aerial vehicle base station generates the third navigation path according to the avoidance road section and the first navigation path.
Preferably, the method further comprises:
in the moving process of the target unmanned aerial vehicle, the target unmanned aerial vehicle judges whether other interference unmanned aerial vehicles exist in a self preset range;
if the interference unmanned aerial vehicle exists, the target unmanned aerial vehicle and the interference unmanned aerial vehicle establish wireless connection;
the target unmanned aerial vehicle receives motion information of the interference unmanned aerial vehicle through the wireless connection, wherein the motion information comprises the flight speed, the flight direction and the flight height of the interference unmanned aerial vehicle;
the target unmanned aerial vehicle judges whether collision risk exists between the target unmanned aerial vehicle and the interference unmanned aerial vehicle or not according to the motion information of the interference unmanned aerial vehicle;
and if the collision risk exists, the target unmanned aerial vehicle adjusts the motion information of the target unmanned aerial vehicle.
Preferably, the target unmanned aerial vehicle judges whether the target unmanned aerial vehicle collides with the interfering unmanned aerial vehicle according to the motion information of the interfering unmanned aerial vehicle, and the judging step includes:
the target unmanned aerial vehicle judges whether the flight direction of the interference unmanned aerial vehicle is the same as the flight direction of the target unmanned aerial vehicle, and if the flight direction of the interference unmanned aerial vehicle is different from the flight direction of the target unmanned aerial vehicle, the target unmanned aerial vehicle determines that no collision risk exists between the target unmanned aerial vehicle and the interference unmanned aerial vehicle;
if the flight direction of the interference unmanned aerial vehicle is the same as the flight direction of the interference unmanned aerial vehicle, the target unmanned aerial vehicle judges whether the flight height of the interference unmanned aerial vehicle is the same as the flight height of the target unmanned aerial vehicle, and if the flight height of the interference unmanned aerial vehicle is different from the flight height of the target unmanned aerial vehicle, the target unmanned aerial vehicle is determined to be not in collision risk with the interference unmanned aerial vehicle.
Preferably, the method further comprises:
if the flight height of the interfering unmanned aerial vehicle is the same as the flight height of the interfering unmanned aerial vehicle, the target unmanned aerial vehicle decomposes the flight speed of the interfering unmanned aerial vehicle to obtain a first speed, a second speed and a third speed, wherein the first speed is a speed in a first dimension direction, the second speed is a speed in a second dimension direction, the third speed is a speed in a third dimension direction, the first dimension direction is a direction pointing to the target unmanned aerial vehicle, the second dimension direction is a direction departing from the target unmanned aerial vehicle, and the third dimension direction is a direction parallel to the flight direction of the target unmanned aerial vehicle;
the target unmanned aerial vehicle judges whether the first speed pointing to the target unmanned aerial vehicle is greater than 0, if so, collision risk between the target unmanned aerial vehicle and the interference unmanned aerial vehicle is determined, and if not, collision risk between the target unmanned aerial vehicle and the interference unmanned aerial vehicle is determined.
Preferably, the adjusting of the motion information of the target drone includes:
the target unmanned aerial vehicle adjusts the flight speed of the target unmanned aerial vehicle to be greater than or equal to the first speed in the first dimension direction;
the target unmanned aerial vehicle adjusting the motion information of the target unmanned aerial vehicle comprises the following steps:
the target unmanned aerial vehicle adjusts the flight height of the target unmanned aerial vehicle.
Preferably, the preset monitoring route is as follows:
when the monitored object is not found, the target unmanned aerial vehicle sequentially passes above the partial areas at adjacent positions according to the position sequence of the partial areas which are divided into the monitoring area in advance;
and when the monitored object is found, controlling the target unmanned aerial vehicle to fly away from the monitored object by a preset distance.
Further, the step of analyzing the received video image by the controller and judging whether the video image meets the alarm condition or not includes:
the controller analyzes the received video image and judges whether the video image contains the monitored object or not;
if yes, judging whether the monitored object is separated from the monitoring area;
and if the monitoring area is separated, judging that the alarm condition is met.
The invention provides a monitoring method based on an unmanned aerial vehicle, which comprises the steps of taking the position of a target unmanned aerial vehicle base station with the closest distance between the current target unmanned aerial vehicle position and the target unmanned aerial vehicle as an intermediate point, calculating a first navigation path between a starting point and the intermediate point according to electronic map data, moving to the target unmanned aerial vehicle base station according to the first navigation path, then calculating a second navigation path between the intermediate point and the central position of an area to be monitored according to the electronic map data, moving to the position above the central position of the monitored area according to the second navigation path, acquiring a video image in the monitored area by the target unmanned aerial vehicle according to a preset monitoring route, sending the video image to a controller of a remote control center through wireless communication, and analyzing the received video image by the controller, and judging whether the alarm condition is met, and if so, giving out a warning. In the invention, the unmanned aerial vehicle does not calculate the whole navigation path at one time, but takes the unmanned aerial vehicle base station as a middle point to divide the whole navigation path into a plurality of navigation paths for calculation, thereby reducing the calculation amount in each calculation, leading the unmanned aerial vehicle to arrive at a monitoring area more quickly when monitoring operation is carried out by using the unmanned aerial vehicle, improving the intelligence of the unmanned aerial vehicle, simultaneously facilitating the monitoring of the monitored object in the designated area and providing convenience for monitoring operators.
Drawings
Fig. 1 is a schematic flow chart of a monitoring method based on an unmanned aerial vehicle according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, a monitoring method based on an unmanned aerial vehicle includes:
The target unmanned aerial vehicle is an unmanned aerial vehicle for remote monitoring, and monitoring equipment is installed on the unmanned aerial vehicle, such as: the system comprises a camera, an information transmission device for transmitting a video image shot by the camera to a control end, and a communication device for establishing communication connection between the information transmission device and the control end. In specific use, in order to facilitate monitoring of the object to be monitored, the position of the current target unmanned aerial vehicle and the monitoring area where the object to be monitored is located need to be acquired at first, the area where the target unmanned aerial vehicle flies to arrive is known, and calculation and arrangement of the flight route are convenient to perform on the next step.
And 102, the target unmanned aerial vehicle determines the position of a target unmanned aerial vehicle base station which is closest to the unmanned aerial vehicle at present, and the position of the target unmanned aerial vehicle base station is used as a middle point.
After the current position of the target unmanned aerial vehicle and the position information of the to-be-monitored area where the unmanned aerial vehicle flies are determined in the above steps, the target unmanned aerial vehicle acquires the position of the unmanned aerial vehicle base station closest to the target unmanned aerial vehicle, and the position of the unmanned aerial vehicle base station is used as an intermediate point, wherein the intermediate point is a destination point to which the first flight route of the current target unmanned aerial vehicle arrives.
And 103, calculating a first navigation path between the starting point and the intermediate point by the target unmanned aerial vehicle according to the electronic map data, and moving to the target unmanned aerial vehicle base station according to the first navigation path.
And when the position of the nearest base station of the target unmanned aerial vehicle is determined, calculating a navigation path from the current position to the nearest base station of the unmanned aerial vehicle, wherein the navigation path is a first navigation path, and flying to the base station of the target unmanned aerial vehicle according to the first navigation path.
In order to realize that the target unmanned aerial vehicle smoothly flies to the target unmanned aerial vehicle base station along the first navigation path in the step, the method further comprises the following steps:
further, in the present invention, since there may be a plurality of unmanned aerial vehicles flying at the same time, in order to ensure safety, the target unmanned aerial vehicle base station may be deployed in a unified manner, specifically:
the moving of the target unmanned aerial vehicle to the target unmanned aerial vehicle base station according to the first navigation path comprises:
the target unmanned aerial vehicle sends the first navigation path to the target unmanned aerial vehicle base station;
the target unmanned aerial vehicle base station adjusts the first navigation path according to the received navigation paths sent by the unmanned aerial vehicles to obtain a third navigation path;
the target unmanned aerial vehicle base station sends the third navigation path to the target unmanned aerial vehicle;
and the target unmanned aerial vehicle moves to the target unmanned aerial vehicle base station according to the third navigation path.
In the invention, the target unmanned aerial vehicle base station can obtain the third navigation path in various ways:
a,
The target unmanned aerial vehicle base station adjusts the first navigation path according to the received navigation paths sent by the unmanned aerial vehicles to obtain a third navigation path, and the third navigation path comprises the following steps:
the target unmanned aerial vehicle base station compares all navigation paths to determine an overlapped road section, wherein the overlapped road section is a common part of at least two navigation paths;
the target unmanned aerial vehicle base station judges whether the overlapped road sections exist in the first navigation path, and if so, the target unmanned aerial vehicle base station replans the overlapped road sections in the first navigation path to obtain non-overlapped road sections;
the target unmanned aerial vehicle base station generates the third navigation path according to the non-overlapping road section and the first navigation path.
II,
The target unmanned aerial vehicle base station adjusts the first navigation path according to the received navigation paths sent by the unmanned aerial vehicles to obtain a third navigation path, and the third navigation path comprises the following steps:
the target unmanned aerial vehicle base station receives flight plan information sent by each unmanned aerial vehicle, wherein the flight plan information comprises takeoff time, flight speed and flight height;
the target unmanned aerial vehicle base station judges whether an encountering point exists between the target unmanned aerial vehicle and other unmanned aerial vehicles on the first navigation path or not according to the flight plan information;
if the target unmanned aerial vehicle base station exists, setting an avoidance road section by taking the meeting point as a central point and a preset distance as a radius;
and the target unmanned aerial vehicle base station generates the third navigation path according to the avoidance road section and the first navigation path.
And step 104, the target unmanned aerial vehicle calculates a second navigation path between the intermediate point and the central position of the area to be monitored according to the electronic map data, and moves to the position above the central position of the monitored area according to the second navigation path.
In the step, a second navigation path, namely a navigation path from the unmanned aerial vehicle base station to the central position of the area to be monitored is calculated. In the method, when the second navigation path is calculated, the central position of the area to be monitored can be used as the flying terminal of the unmanned aerial vehicle. It is contemplated that any point within the area to be monitored may be used as an endpoint for the target drone's flight during the implementation. And after the target unmanned aerial vehicle calculates the navigation path, the target unmanned aerial vehicle navigates to the area to be monitored according to the calculated first navigation path.
And 105, the target unmanned aerial vehicle acquires video images in the monitoring area according to a preset monitoring route, and sends the video images to a controller of a remote control center through wireless communication.
After the target unmanned aerial vehicle flies to the area to be monitored, the target unmanned aerial vehicle flies in the area to be monitored according to a preset monitoring route, meanwhile, the video image of the area to be monitored is obtained, the shot video image is sent to a remote control center for monitoring personnel to monitor the image, or a server automatically analyzes the video image and judges whether the abnormality occurs.
Specifically, the preset monitoring route in this step is to perform troubleshooting on the to-be-monitored area according to the preset navigation route after the target unmanned aerial vehicle reaches the to-be-monitored area, and find out the monitored object in the to-be-monitored area, so that the specific position of the monitored object is obtained by performing comprehensive troubleshooting on the to-be-monitored area according to a certain rule.
Preferably, the preset monitoring route is as follows:
and when the monitored object is not found, the target unmanned aerial vehicle sequentially passes above the partial areas at the adjacent positions according to the position sequence of the partial areas which are divided into the monitoring area in advance. Such as: the area to be monitored is divided into a plurality of adjacent partial areas, the target unmanned aerial vehicle firstly flies to the leftmost or rightmost partial area and is positioned at the foremost partial area, then the target unmanned aerial vehicle starts to fly over each partial area from the front to the back in a left-to-right mode, and the video image in each partial area is obtained.
And when the monitored object is found, controlling the target unmanned aerial vehicle to fly away from the monitored object by a preset distance.
And 106, analyzing the received video image by the controller, judging whether the video image meets the alarm condition, and sending out a warning if the video image meets the alarm condition.
The controller analyzes the received video image and judges whether the video image meets the alarm condition, and the method comprises the following steps:
the controller analyzes the received video image and judges whether the video image contains the monitored object or not; and judging whether the video image contains the monitored object or not can be realized by comparing the object characteristics appearing in the image with the characteristics of the monitored object stored in advance, and if the comparison is successful, judging that the monitored object appears in the current video image.
If yes, judging whether the monitored object is separated from the monitoring area;
and if the monitoring area is separated, judging that the alarm condition is met.
In the specific embodiment of the monitoring method of the present invention, in addition to the navigation path of the target drone base station being adjustable, the target drone itself may further adjust its own motion information, thereby preventing collision, specifically:
the method further comprises the following steps:
in the moving process of the target unmanned aerial vehicle, the target unmanned aerial vehicle judges whether other interference unmanned aerial vehicles exist in a self preset range;
if the interference unmanned aerial vehicle exists, the target unmanned aerial vehicle and the interference unmanned aerial vehicle establish wireless connection;
the target unmanned aerial vehicle receives motion information of the interference unmanned aerial vehicle through the wireless connection, wherein the motion information comprises the flight speed, the flight direction and the flight height of the interference unmanned aerial vehicle;
the target unmanned aerial vehicle judges whether collision risk exists between the target unmanned aerial vehicle and the interference unmanned aerial vehicle or not according to the motion information of the interference unmanned aerial vehicle;
and if the collision risk exists, the target unmanned aerial vehicle adjusts the motion information of the target unmanned aerial vehicle.
Wherein, target unmanned aerial vehicle according to disturb unmanned aerial vehicle's motion information judge itself with disturb unmanned aerial vehicle has the collision risk and include:
the target unmanned aerial vehicle judges whether the flight direction of the interference unmanned aerial vehicle is the same as the flight direction of the target unmanned aerial vehicle, and if the flight direction of the interference unmanned aerial vehicle is different from the flight direction of the target unmanned aerial vehicle, the target unmanned aerial vehicle determines that the target unmanned aerial vehicle does not have collision risk with the interference unmanned aerial vehicle.
If the flight direction of the interference unmanned aerial vehicle is the same as the flight direction of the interference unmanned aerial vehicle, the target unmanned aerial vehicle judges whether the flight height of the interference unmanned aerial vehicle is the same as the flight height of the target unmanned aerial vehicle, and if the flight height of the interference unmanned aerial vehicle is different from the flight height of the target unmanned aerial vehicle, the target unmanned aerial vehicle is determined to be not in collision risk with the interference unmanned aerial vehicle.
If the flight height of the interfering unmanned aerial vehicle is the same as the flight height of the interfering unmanned aerial vehicle, the target unmanned aerial vehicle decomposes the flight speed of the interfering unmanned aerial vehicle to obtain a first speed, a second speed and a third speed, wherein the first speed is a speed in a first dimension direction, the second speed is a speed in a second dimension direction, the third speed is a speed in a third dimension direction, the first dimension direction is a direction pointing to the target unmanned aerial vehicle, the second dimension direction is a direction departing from the target unmanned aerial vehicle, and the third dimension direction is a direction parallel to the flight direction of the target unmanned aerial vehicle;
the target unmanned aerial vehicle judges whether the first speed pointing to the target unmanned aerial vehicle is greater than 0, if so, collision risk between the target unmanned aerial vehicle and the interference unmanned aerial vehicle is determined, and if not, collision risk between the target unmanned aerial vehicle and the interference unmanned aerial vehicle is determined.
In the invention, the target unmanned aerial vehicle adjusting the motion information thereof comprises the following steps:
the target unmanned aerial vehicle adjusts the flight speed of the target unmanned aerial vehicle to be greater than or equal to the first speed in the first dimension direction.
Or, the adjusting of the motion information of the target drone includes:
the target unmanned aerial vehicle adjusts the flight height of the target unmanned aerial vehicle.
In order to provide a more detailed description of the present invention, the following description will be given of a specific embodiment of the present invention, taking the monitored object as a precious animal.
First, the scientist knows in advance that the precious animal is moving in a fixed area all the time in the near future, and in order to protect the precious animal, the scientist starts the unmanned aerial vehicle to monitor the precious animal so as to prevent an accident.
Secondly, position information of a target unmanned aerial vehicle base station closest to the current position is obtained, the position of the target unmanned aerial vehicle base station is used as an intermediate point, and a first navigation path of the target unmanned aerial vehicle flying to the target unmanned aerial vehicle base station is calculated. In the specific calculation process, the calculated first navigation path is combined with other nearby unmanned aerial vehicle navigation paths and non-overlapped road sections, a third navigation path is planned again, and the unmanned aerial vehicle flies to the target unmanned aerial vehicle base station according to the planned third navigation path.
And thirdly, calculating a second navigation path from the target unmanned aerial vehicle base station to the central position of the area to be monitored, replanning a fourth navigation path by taking the situations of other unmanned aerial vehicle navigation paths and non-overlapped road sections into consideration, and flying to the central position of the area to be monitored according to the fourth navigation path.
And finally, starting a full-area searching monitored precious animal mode by a target unmanned aerial vehicle arriving at the area to be monitored, acquiring a full-area video image according to a preset searching path, sending the video image to a controller of a control center, analyzing the acquired video image by the controller, performing feature matching, judging whether the monitored precious animal appears in a video picture, if so, starting a fixed-distance tracking mode for the precious animal, keeping a certain distance from the precious animal, performing video shooting on the activity condition of the precious animal in real time, sending the shot video to the control center, judging whether the precious animal is separated from the area to be monitored by the control center, and if so, sending an alarm.
The monitoring method provided by the invention is suitable for monitoring the animal track in a certain area, can be used for acquiring the daily living habits of the animal and protecting the animal to prevent the animal from deviating from the protected area, and therefore, the monitoring method provides convenience for animal and plant research in natural science.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A monitoring method based on an unmanned aerial vehicle is characterized in that the method comprises the following steps:
presetting the position information of a starting point and the area position information of an area to be monitored of a target unmanned aerial vehicle;
the target unmanned aerial vehicle determines the position of a target unmanned aerial vehicle base station which is closest to the unmanned aerial vehicle at present, and takes the position of the target unmanned aerial vehicle base station as an intermediate point;
the target unmanned aerial vehicle calculates a first navigation path between the starting point and the intermediate point according to electronic map data, and moves to the target unmanned aerial vehicle base station according to the first navigation path;
the target unmanned aerial vehicle calculates a second navigation path between the intermediate point and the central position of the area to be monitored according to the electronic map data, and moves to the position above the central position of the monitored area according to the second navigation path;
the target unmanned aerial vehicle acquires video images in the monitoring area according to a preset monitoring route and sends the video images to a controller of a remote control center through wireless communication;
the controller analyzes the received video image, judges whether an alarm condition is met, and sends out a warning if the alarm condition is met;
in the moving process of the target unmanned aerial vehicle, the target unmanned aerial vehicle judges whether other interference unmanned aerial vehicles exist in a self preset range;
if the interference unmanned aerial vehicle exists, the target unmanned aerial vehicle and the interference unmanned aerial vehicle establish wireless connection;
the target unmanned aerial vehicle receives motion information of the interference unmanned aerial vehicle through the wireless connection, wherein the motion information comprises the flight speed, the flight direction and the flight height of the interference unmanned aerial vehicle;
the target unmanned aerial vehicle judges whether collision risk exists between the target unmanned aerial vehicle and the interference unmanned aerial vehicle or not according to the motion information of the interference unmanned aerial vehicle;
if the collision risk exists, the target unmanned aerial vehicle adjusts the motion information of the target unmanned aerial vehicle;
the target unmanned aerial vehicle judges whether the target unmanned aerial vehicle collides with the interference unmanned aerial vehicle according to the motion information of the interference unmanned aerial vehicle, and the judgment comprises the following steps:
if the flight height of the interfering unmanned aerial vehicle is the same as the flight height of the interfering unmanned aerial vehicle, the target unmanned aerial vehicle decomposes the flight speed of the interfering unmanned aerial vehicle to obtain a first speed, a second speed and a third speed, wherein the first speed is a speed in a first dimension direction, the second speed is a speed in a second dimension direction, the third speed is a speed in a third dimension direction, the first dimension direction is a direction pointing to the target unmanned aerial vehicle, the second dimension direction is a direction departing from the target unmanned aerial vehicle, and the third dimension direction is a direction parallel to the flight direction of the target unmanned aerial vehicle;
the target unmanned aerial vehicle judges whether the first speed pointing to the target unmanned aerial vehicle is greater than 0, if so, collision risk between the target unmanned aerial vehicle and the interference unmanned aerial vehicle is determined, and if not, collision risk between the target unmanned aerial vehicle and the interference unmanned aerial vehicle is determined.
2. The method of claim 1, wherein moving the target drone to the target drone base station according to the first navigation path comprises:
the target unmanned aerial vehicle sends the first navigation path to the target unmanned aerial vehicle base station;
the target unmanned aerial vehicle base station adjusts the first navigation path according to the received navigation paths sent by the unmanned aerial vehicles to obtain a third navigation path;
the target unmanned aerial vehicle base station sends the third navigation path to the target unmanned aerial vehicle;
and the target unmanned aerial vehicle moves to the target unmanned aerial vehicle base station according to the third navigation path.
3. The method of claim 2, wherein the step of the target drone base station adjusting the first navigation path according to the received navigation paths sent by the drones to obtain a third navigation path comprises:
the target unmanned aerial vehicle base station compares all navigation paths to determine an overlapped road section, wherein the overlapped road section is a common part of at least two navigation paths;
the target unmanned aerial vehicle base station judges whether the overlapped road sections exist in the first navigation path, and if so, the target unmanned aerial vehicle base station replans the overlapped road sections in the first navigation path to obtain non-overlapped road sections;
the target unmanned aerial vehicle base station generates the third navigation path according to the non-overlapping road section and the first navigation path.
4. The method of claim 2, wherein the step of the target drone base station adjusting the first navigation path according to the received navigation paths sent by the drones to obtain a third navigation path comprises:
the target unmanned aerial vehicle base station receives flight plan information sent by each unmanned aerial vehicle, wherein the flight plan information comprises takeoff time, flight speed and flight height;
the target unmanned aerial vehicle base station judges whether an encountering point exists between the target unmanned aerial vehicle and other unmanned aerial vehicles on the first navigation path or not according to the flight plan information;
if the target unmanned aerial vehicle base station exists, setting an avoidance road section by taking the meeting point as a central point and a preset distance as a radius;
and the target unmanned aerial vehicle base station generates the third navigation path according to the avoidance road section and the first navigation path.
5. The method of claim 1, wherein the target drone adjusting its own motion information comprises:
the target unmanned aerial vehicle adjusts the flight speed of the target unmanned aerial vehicle to be greater than or equal to the first speed in the first dimension direction;
the target unmanned aerial vehicle adjusting the motion information of the target unmanned aerial vehicle comprises the following steps:
the target unmanned aerial vehicle adjusts the flight height of the target unmanned aerial vehicle.
6. The method of claim 5, wherein the predetermined monitoring route is:
when the monitored object is not found, the target unmanned aerial vehicle sequentially passes above the partial areas at adjacent positions according to the position sequence of the partial areas which are divided into the monitoring area in advance;
and when the monitored object is found, controlling the target unmanned aerial vehicle to fly away from the monitored object by a preset distance.
7. The method of claim 6, wherein the step of the controller analyzing the received video image to determine whether an alarm condition is met comprises:
the controller analyzes the received video image and judges whether the video image contains the monitored object or not;
if yes, judging whether the monitored object is separated from the monitoring area;
and if the monitoring area is separated, judging that the alarm condition is met.
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| CN104853167A (en) * | 2015-05-15 | 2015-08-19 | 华中科技大学 | Aircraft platform-based intelligent district safety protection system and intelligent district safety protection method |
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