CN112995894B

CN112995894B - Unmanned aerial vehicle monitoring system and method

Info

Publication number: CN112995894B
Application number: CN202110182190.3A
Authority: CN
Inventors: 杨玮; 郝子源; 李欣泽; 李民赞; 孟超
Original assignee: China Agricultural University
Current assignee: China Agricultural University
Priority date: 2021-02-09
Filing date: 2021-02-09
Publication date: 2022-01-25
Anticipated expiration: 2041-02-09
Also published as: CN112995894A

Abstract

The application provides an unmanned aerial vehicle monitoring system and a method thereof, wherein the system comprises an unmanned aerial vehicle end, a mobile terminal, a first server end and a second server end; the unmanned aerial vehicle end is used for sending the equipment information of the target unmanned aerial vehicle to the second server end and sending the position information of the target unmanned aerial vehicle to the first server end; the mobile terminal is used for creating a boundary electronic fence and sending a group creation request to the second server; the first server side is used for judging whether the target unmanned aerial vehicle is out of range or not based on the position relation between the position information of the target unmanned aerial vehicle and the boundary electronic fence; and the second server is used for receiving the group creation request and creating a group corresponding to the boundary electronic fence. This application embodiment has realized carrying out the system monitored to a plurality of different model unmanned aerial vehicles simultaneously, accurately acquires a plurality of different model unmanned aerial vehicle's positional information, carries out the alarm when unmanned aerial vehicle transgresses the border and reminds, and then ensures unmanned aerial vehicle's operation safety.

Description

Unmanned aerial vehicle monitoring system and method

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle monitoring system and method.

Background

Unmanned aerial vehicle uses extensively in the aspect of field, long-stalked crop operation and dealing with explosive plant diseases and insect disasters etc. intelligent degree constantly improves, can realize independently carrying out the route planning, effectively solves the problem that the labour reduces.

At present, unmanned aerial vehicle mainly carries out manual remote control through professional unmanned aerial vehicle operating personnel, and in the operation plot of great area, unmanned aerial vehicle operating personnel appears unmanned aerial vehicle operation phenomenon of crossing borders because the visual angle is limited, leads to unmanned aerial vehicle to produce flight safety risk and the extravagant problem of resource.

In addition, when local unmanned aerial vehicle service team carries out the operation of giving medicine to poor free of charge to the unmanned aerial vehicle of a plurality of models of a plurality of producers, can realize that the unmanned aerial vehicle position is visual, but the unmanned aerial vehicle monitored control system of different producers is different for each unmanned aerial vehicle's positional information can't show at same software interface, can not realize monitoring a plurality of model unmanned aerial vehicle positions simultaneously in same system.

The prior art scheme can not realize the system of monitoring a plurality of model unmanned aerial vehicle positions of a plurality of producers simultaneously, can't accurately acquire unmanned aerial vehicle positional information, can't carry out the alarm when unmanned aerial vehicle transgresses the border and remind, and then can't ensure unmanned aerial vehicle's operation safety.

Disclosure of Invention

The application provides an unmanned aerial vehicle monitoring system and method, which are used for solving the defects that in the prior art, a plurality of unmanned aerial vehicles cannot be monitored simultaneously, the position information of the unmanned aerial vehicle cannot be accurately acquired, the unmanned aerial vehicle cannot be warned when the unmanned aerial vehicle is out of range, and further the operation safety of the unmanned aerial vehicle cannot be guaranteed.

In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle monitoring system, including:

the unmanned aerial vehicle terminal comprises at least one unmanned aerial vehicle and is used for sending the equipment information of a target unmanned aerial vehicle to the second server terminal and sending the position information of the target unmanned aerial vehicle to the first server terminal;

the mobile terminal is used for creating a boundary electronic fence, sending a group creation request to the second server based on the boundary electronic fence, so that the second server creates a group corresponding to the boundary electronic fence according to the group creation request and feeds back a group creation success signal, and sending the boundary electronic fence and the equipment information of the target unmanned aerial vehicle in the group corresponding to the boundary electronic fence to the first server;

the first server side is used for receiving the boundary electronic fence and the device information of the target unmanned aerial vehicle in the group corresponding to the boundary electronic fence, acquiring the position information of the target unmanned aerial vehicle based on the device information of the target unmanned aerial vehicle, judging whether the target unmanned aerial vehicle is out of range based on the position relation between the position information of the target unmanned aerial vehicle and the boundary electronic fence, and sending out-of-range alarm information to the mobile terminal if the target unmanned aerial vehicle is out of range;

the second server is used for receiving the group creation request, acquiring the equipment information of the target unmanned aerial vehicle based on the group creation request, and creating a group corresponding to the boundary electronic fence based on the equipment information of the target unmanned aerial vehicle.

Optionally, the first server is further configured to obtain a minimum distance from the target unmanned aerial vehicle to the boundary electronic fence if the target unmanned aerial vehicle does not cross the boundary, and send the cross-boundary warning information to the mobile terminal if the minimum distance is smaller than a preset threshold value and the target unmanned aerial vehicle flies outside the boundary electronic fence.

In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle monitoring method, based on the unmanned aerial vehicle monitoring system, including:

the method comprises the steps that a mobile terminal creates a boundary electronic fence, and based on the boundary electronic fence, a group creation request is sent to a second server side, so that the second server side creates a group corresponding to the boundary electronic fence according to the group creation request and feeds back a group creation success signal;

the second server side receives the group creation request, acquires equipment information of a target unmanned aerial vehicle sent by the unmanned aerial vehicle side based on the group creation request, and creates a group corresponding to the boundary electronic fence based on the equipment information of the target unmanned aerial vehicle;

the mobile terminal sends the boundary electronic fence and the equipment information of the target unmanned aerial vehicles in the group corresponding to the boundary electronic fence to a first server end;

the first server end receives the boundary electronic fence and the equipment information of the target unmanned aerial vehicle in the group corresponding to the boundary electronic fence, and acquires the position information of the target unmanned aerial vehicle sent by the unmanned aerial vehicle end based on the equipment information of the target unmanned aerial vehicle;

the first server side judges whether the target unmanned aerial vehicle is out of range or not based on the position information of the target unmanned aerial vehicle and the position relation between the boundary electronic fences, and sends out-of-range alarm information to the mobile terminal if the target unmanned aerial vehicle is out of range.

Optionally, the determining, by the first server, whether the target drone is out of range based on the position relationship between the position information of the target drone and the boundary electronic fence includes:

the first server side determines the surrounding number of the target unmanned aerial vehicle relative to the boundary electronic fence based on the position relation between the position information of the target unmanned aerial vehicle and the boundary electronic fence;

if the surrounding number is 0, determining that the target unmanned aerial vehicle is out of range, and sending out-of-range alarm information to the mobile terminal;

and if the number of the surrounding is not 0, determining that the target unmanned aerial vehicle does not cross the boundary.

Optionally, the determining, by the first server, a number of revolutions of the target drone relative to the boundary electronic fence includes:

the first server side acquires coordinate positions of all vertexes of the boundary electronic fence based on a three-dimensional coordinate system, and calculates the vector product of connecting lines from the target unmanned aerial vehicle to any two adjacent vertexes of the boundary electronic fence;

the first server side acquires the passing direction of the boundary electronic fence relative to the target unmanned aerial vehicle based on the vector product;

and the first server side calculates the surrounding number according to the passing direction.

Optionally, the first server calculates a cross product of connecting lines between any two adjacent vertices of the boundary electronic fence and the target drone, including:

the first server side calculates the vector product of the connecting lines of any two adjacent vertexes of the boundary electronic fence from the target unmanned aerial vehicle by using a formula (1):

the first server side obtains the traveling direction of the boundary electronic fence relative to the target unmanned aerial vehicle based on the vector product, and the method comprises the following steps:

the first server end calculates a direction of travel of the boundary fence relative to the target drone using equation (2) based on the vector product:

n_k＝tanh(d_k) (2)；

the first server side calculates the number of windings according to the passing direction, and the method comprises the following steps:

the first server side calculates the number of the circles by using a formula (3) according to the passing direction:

wherein, point P represents the position information of the target unmanned aerial vehicle, and the coordinate of point P is (x)_p,y_p0), C denotes a boundary fence, point V_kAnd point V_jRepresents any two adjacent vertices in C, point V_kThe coordinate is (x)_k,y_k0), point V_jThe coordinate is (x)_j,y_j,0)，d_kRepresents the product of vectors, m represents the total number of side lengths of C, k ∈ [1, m]And k is an integer, j belongs to [1, m ]]And j is an integer, n_kDenotes the direction of travel, if n_k< 0, then n'_kIf n is-1, then_kIs greater than 0, then n'_kWn (P, C) represents the number of wraps.

Optionally, after the first server determines whether the target drone is out of range based on the position relationship between the position information and the boundary electronic fence, the method further includes:

under the condition that the target unmanned aerial vehicle is determined not to cross the boundary, the first server side obtains the minimum distance between the target unmanned aerial vehicle and the boundary electronic fence;

if the minimum distance is smaller than a preset threshold value, and the target unmanned aerial vehicle flies outside the boundary electronic fence, the first server side sends boundary crossing early warning information to the mobile terminal.

Optionally, the obtaining, by the first server, the minimum distance between the target drone and the boundary electronic fence includes:

the first server side acquires all vertexes and all side lengths of the boundary electronic fence;

and the first server end respectively calculates the distance from the target unmanned aerial vehicle to each vertex and each side length, and determines the minimum distance based on a plurality of distances.

In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps of the drone monitoring method according to the second aspect are implemented.

In a fourth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the drone monitoring method according to the second aspect.

According to the unmanned aerial vehicle monitoring system and the method, the second server end creates a group corresponding to the boundary electronic fence according to the boundary electronic fence created by the mobile terminal, interference among the boundary electronic fences is reduced, visual management of the system for monitoring the plurality of unmanned aerial vehicles is facilitated, the first server end obtains position information of the target unmanned aerial vehicle based on the device information of the target unmanned aerial vehicle according to the boundary electronic fence sent by the mobile terminal and device information of the target unmanned aerial vehicle in the group corresponding to the boundary electronic fence, judges whether the target unmanned aerial vehicle is out of range based on the position relation between the position information of the target unmanned aerial vehicle and the boundary electronic fence, sends alarm information to the mobile terminal if the target unmanned aerial vehicle is out of range, achieves a system for monitoring the plurality of unmanned aerial vehicles simultaneously, and accurately obtains the position information of the plurality of unmanned aerial vehicles, carry out the alarm when unmanned aerial vehicle crosses the border and remind, and then guarantee unmanned aerial vehicle's operation safety.

Drawings

In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic frame diagram of a monitoring system of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 2 is a scene schematic diagram of an unmanned aerial vehicle monitoring system provided in an embodiment of the present application;

fig. 3 is a schematic flowchart of a monitoring method for an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 4 is a schematic view of a two-dimensional coordinate system provided in an embodiment of the present application;

FIG. 5 is a schematic view of a three-dimensional coordinate system provided in an embodiment of the present application;

fig. 6 is a second schematic view of a three-dimensional coordinate system provided in an embodiment of the present application;

fig. 7 is a schematic view of a scene of a target drone in safe flight provided in an embodiment of the present application;

fig. 8 is a scene schematic diagram of a target drone entering an early warning range provided in an embodiment of the present application;

fig. 9 is a schematic view of a scenario in which a target drone provided by an embodiment of the present application is out of range;

fig. 10 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to solve the problem that the prior art can not realize the system for monitoring a plurality of unmanned aerial vehicles of different models simultaneously, the position information of the unmanned aerial vehicle can not be accurately acquired, the unmanned aerial vehicle can not be warned when the unmanned aerial vehicle is out of range, and further the operation safety of the unmanned aerial vehicle can not be guaranteed, the embodiment of the application provides an unmanned aerial vehicle monitoring system, and fig. 1 is a frame schematic diagram of the unmanned aerial vehicle monitoring system provided by the embodiment of the application. As shown in fig. 1, the system includes an unmanned aerial vehicle terminal 100, a mobile terminal 101, a first server terminal 102 and a second server terminal 103. Wherein,

the unmanned aerial vehicle terminal 100 includes at least one unmanned aerial vehicle, and is configured to send device information of a target unmanned aerial vehicle to the second server terminal, and send location information of the target unmanned aerial vehicle to the first server terminal.

It can be said that the unmanned aerial vehicle end contains the data acquisition module, and this data acquisition module is used for gathering target unmanned aerial vehicle's positional information.

Each unmanned aerial vehicle carries out the operation in the border fence that corresponds, in order to realize simultaneously monitoring a plurality of different model unmanned aerial vehicles in the same border fence, the system manages a plurality of different model unmanned aerial vehicles in groups, according to border fence, establishes the unmanned aerial vehicle that carries out the operation in the same border fence in same group, and then obtains a plurality of groups, each group and each border fence one-to-one.

Optionally, the target drone may be one drone or multiple drones of different models. The target unmanned aerial vehicle carries out the operation in same border fence.

Further, the unmanned aerial vehicle end sends the equipment information of the target unmanned aerial vehicle to the second server end, the equipment information is used for completing the group creating function of the second server end, and the equipment information of the target unmanned aerial vehicle is created in the same group.

In one embodiment, the data acquisition module adopts a Real 6410 android development board to realize a data acquisition function, and is used for acquiring the position information of the target unmanned aerial vehicle.

The mobile terminal 101 is configured to create a boundary electronic fence, send a group creation request to the second server based on the boundary electronic fence, so that the second server creates a group corresponding to the boundary electronic fence according to the group creation request and feeds back a group creation success signal, and send the boundary electronic fence and device information of the target unmanned aerial vehicle in the group corresponding to the boundary electronic fence to the first server.

In one embodiment, the mobile terminal is a mobile terminal of an android 9.0 mobile phone, the model is millet 6X, and the mobile terminal is configured as a hpoft dragon 660 processor and a 6GB DDR3 memory.

The mobile terminal comprises a boundary electronic fence management module and a group creation module.

The boundary electronic fence management module comprises a boundary electronic fence creating sub-module, a boundary electronic fence updating sub-module and a boundary electronic fence deleting sub-module.

The boundary electronic fence creating sub-module is used for creating a plurality of boundary electronic fences according to the region where the unmanned aerial vehicle end carries out operation, wherein at least one target unmanned aerial vehicle carries out operation inside each boundary electronic fence.

And the boundary electronic fence updating submodule is used for modifying and updating the boundary electronic fence.

The boundary electronic fence deletion submodule is used for deleting the created or updated boundary electronic fence.

The group creation module is used for sending a group creation request to the second server according to each created boundary electronic fence, and the second server completes the group creation function according to the received group creation request and feeds back a group creation success signal to the mobile terminal.

Furthermore, each group contains the equipment information of at least one target unmanned aerial vehicle in the same boundary electronic fence, so that on one hand, the mobile terminal can simultaneously monitor a plurality of unmanned aerial vehicles of different models in real time; on the other hand, the instant communication between the mobile terminal and the unmanned aerial vehicle end is realized through the second server end.

Optionally, the mobile terminal further includes a location query module and a historical track query module.

The position query module is used for querying position information of the target unmanned aerial vehicle, the mobile terminal sends a position query request to the first server side, and the first server side obtains the position information of the target unmanned aerial vehicle from the unmanned aerial vehicle side according to the position query request and sends the position information of the target unmanned aerial vehicle to the mobile terminal.

The historical track query module is used for querying a historical flight track of the unmanned aerial vehicle, the mobile terminal sends a historical track query request of the target unmanned aerial vehicle to the first server side, the first server side generates historical track information from stored position information of the target unmanned aerial vehicle according to the historical track query request, and sends the historical track information of the target unmanned aerial vehicle to the mobile terminal.

In one embodiment, the mobile terminal provides a location information query and historical track query interface, and is used for obtaining the location information and the historical track of the target unmanned aerial vehicle from the first server side. In order to improve the query efficiency, a Hypertext Transfer Protocol (HTTP) Protocol is used, and a history track query interface is set by a setProtocolIType () method. After the mobile terminal obtains the historical track of the target unmanned aerial vehicle, the historical track of the target unmanned aerial vehicle is drawn and displayed by combining Baidu map software.

First server 102, be used for receiving border fence, and with in the subgroup that border fence corresponds target unmanned aerial vehicle's equipment information, based on target unmanned aerial vehicle's equipment information, acquire target unmanned aerial vehicle's positional information, based on target unmanned aerial vehicle's positional information with positional relationship between the border fence judges whether target unmanned aerial vehicle crosses the border, if target unmanned aerial vehicle crosses the border, to mobile terminal sends alarm information that crosses the border.

The first server side comprises a real-time position management module, a historical track management module and an out-of-range judgment module.

The real-time position management module comprises a position acquisition submodule and a position storage submodule.

The position obtaining submodule is used for obtaining the position information of the target unmanned aerial vehicle, sent by the unmanned aerial vehicle end, according to the device information of the target unmanned aerial vehicle, sent by the mobile terminal, of the group corresponding to the boundary electronic fence.

The position storage submodule is used for storing the acquired position information of each target unmanned aerial vehicle.

The historical track management module comprises a historical track generation submodule and a historical track storage submodule.

And the historical track generation submodule is used for generating the historical flight track of each target unmanned aerial vehicle according to the position information of the target unmanned aerial vehicle, which is stored by the storage position submodule.

And the historical track storage submodule is used for storing the generated historical flight track of the target unmanned aerial vehicle.

The border crossing judging module is used for: for each target unmanned aerial vehicle, judging whether the target unmanned aerial vehicle is out of range or not according to the position relation between the position information of the target unmanned aerial vehicle and the boundary electronic fence, and if the target unmanned aerial vehicle is out of range, sending out-of-range alarm information to the mobile terminal; if the target unmanned aerial vehicle does not cross the border, the minimum distance from the target unmanned aerial vehicle to the border electronic fence is further calculated, and if the minimum distance is smaller than a preset threshold value, the target unmanned aerial vehicle flies to the outside of the border electronic fence and sends early warning information to the mobile terminal.

In one embodiment, the first server is a Baidu eagle eye server. The mobile terminal realizes real-time monitoring of the position information of the target unmanned aerial vehicle through the Baidu eagle eye server.

The second server 103 is configured to receive the group creation request, acquire the device information of the target drone based on the group creation request, and create a group corresponding to the boundary electronic fence based on the device information of the target drone.

The second server comprises a group management module.

The group management module comprises a group creation submodule and a group member management submodule.

The group creation submodule is used for: according to a group creation request sent by the mobile terminal, acquiring equipment information of a target unmanned aerial vehicle from the unmanned aerial vehicle end, creating a group corresponding to the boundary electronic fence, adding the equipment information of the target unmanned aerial vehicle in the group, and feeding back a group creation success signal to the mobile terminal. Wherein, target unmanned aerial vehicle, group and border fence are the one-to-one relation.

The group member management submodule is used for: for each group, the device information of the target unmanned aerial vehicles in the group is managed, and the management mode can be to add the device information of the target unmanned aerial vehicles, modify the device information of the target unmanned aerial vehicles and delete the device information of the target unmanned aerial vehicles.

Optionally, the second server further includes a user registration module, a user login module, a friend addition module, and an information communication module.

The user registration module is used for receiving a user registration request sent by the mobile terminal and completing a user registration function according to the user registration request.

The user login module is used for receiving a user login request sent by the mobile terminal and completing a user login function according to the user login request.

And the friend adding module is used for receiving a friend adding request sent by the mobile terminal and completing a friend adding function according to the friend adding request.

The information communication module is used for realizing the instant communication function between the mobile terminal and the information communication module.

In one embodiment, the second server is an aurora server, and the user registration module, the user login module, the friend adding module, the information communication module and the group management module are realized through an aurora Jpush and an aurora IM SDK.

Furthermore, by the aurora server, the cross-border alarm information can be pushed to the mobile terminal in a message reminding mode, the mobile terminal reminds in a pop-up frame mode, and a warning sound is sent out to give an alarm.

Further, the unmanned aerial vehicle end can carry out transfer storage with target unmanned aerial vehicle's positional information through the aurora server, avoids a large amount of unmanned aerial vehicle's positional information to occupy the too much resource of first server end on the one hand, and on the other hand avoids the data bulk to lead to the fact data loss excessively.

In the unmanned aerial vehicle monitoring system provided by the embodiment of the application, the second server end creates a group corresponding to the boundary electronic fence according to the boundary electronic fence created by the mobile terminal, so that the interference among the boundary electronic fences is reduced, the system is convenient for the visual management of monitoring of a plurality of unmanned aerial vehicles of different models, the first server end obtains the position information of the target unmanned aerial vehicle according to the boundary electronic fence sent by the mobile terminal and the equipment information of the target unmanned aerial vehicle in the group corresponding to the boundary electronic fence, based on the equipment information of the target unmanned aerial vehicle, judges whether the target unmanned aerial vehicle is out of range or not based on the position relation between the position information of the target unmanned aerial vehicle and the boundary electronic fence, and sends alarm information to the mobile terminal if the target unmanned aerial vehicle is out of range, so that the system for monitoring a plurality of unmanned aerial vehicles of different models simultaneously is realized, and the position information of the unmanned aerial vehicles of different models is accurately obtained, carry out the alarm when unmanned aerial vehicle crosses the border and remind, and then guarantee unmanned aerial vehicle's operation safety.

Based on the content of the above embodiment, the first server is further configured to obtain a minimum distance from the target unmanned aerial vehicle to the boundary electronic fence if the target unmanned aerial vehicle does not cross the boundary, and send the cross-boundary early warning information to the mobile terminal if the minimum distance is smaller than a preset threshold and the target unmanned aerial vehicle flies outside the boundary electronic fence.

For each target unmanned aerial vehicle, the first server side acquires all vertexes and all side lengths of the boundary electronic fence, respectively calculates the distances from the target unmanned aerial vehicle to the vertexes and the side lengths, sorts the calculated distances, and determines the minimum distance from the target unmanned aerial vehicle to the boundary electronic fence.

Alternatively, the preset threshold may be preset as required, and may be 5 meters, for example.

If the minimum distance is smaller than a preset threshold value, the flight trend of the target unmanned aerial vehicle is further judged, and if the target unmanned aerial vehicle flies to the outside of the boundary electronic fence, the first server side sends boundary crossing early warning information to the mobile terminal.

If the minimum distance is greater than the preset threshold value, or the minimum distance is smaller than the preset threshold value and the target unmanned aerial vehicle flies into the boundary electronic fence, the first server does not send out the boundary crossing early warning information.

The unmanned aerial vehicle monitored control system that this application embodiment provided, through further judging the situation that target unmanned aerial vehicle does not cross the border, according to preset threshold value and target unmanned aerial vehicle's flight direction, whether accurate judgement target unmanned aerial vehicle has the trend of crossing the border, and then sends cross border early warning information, effectively ensured unmanned aerial vehicle's operation safety.

Fig. 2 is a scene schematic diagram of an unmanned aerial vehicle monitoring system provided in an embodiment of the present application. As shown in fig. 2, the first server is an eagle eye service, the mobile terminal is an android client, the second server is an aurora service, and the unmanned aerial vehicle is a plant protection unmanned aerial vehicle.

As can be seen from fig. 2, the eagle eye service is used for data processing, and includes a real-time location management module, a historical track management module, and an out-of-range judgment module.

The position acquisition submodule is used for acquiring the position information of the target plant protection unmanned aerial vehicle, sent by the plant protection unmanned aerial vehicle, of the group corresponding to the boundary electronic fence according to the equipment information of the target plant protection unmanned aerial vehicle, sent by the android client.

The position storage submodule is used for storing the acquired position information of the target plant protection unmanned aerial vehicle for each target plant protection unmanned aerial vehicle.

And the historical track generation submodule is used for generating the historical flight track of the target plant protection unmanned aerial vehicle for each target plant protection unmanned aerial vehicle according to the position information of the target plant protection unmanned aerial vehicle, which is stored by the storage position submodule.

And the historical track storage submodule is used for storing the generated historical flight track of the target plant protection unmanned aerial vehicle.

As shown in fig. 2, the android client includes an android hundreds level eagle eye Software Development Kit (SDK), a location query module, and a historical track query module, and the android client is used for data monitoring.

The Baidu eagle eye SDK is used for drawing and displaying the real-time position or the historical track of the visual target plant protection unmanned aerial vehicle on a Baidu map according to the real-time position information or the historical track information of the target plant protection unmanned aerial vehicle sent by the eagle eye service.

The position query module is used for querying the position information of the unmanned aerial vehicle. The android client sends a position query request to the eagle eye service, and the eagle eye service acquires the position information of the target plant protection unmanned aerial vehicle from the plant protection unmanned aerial vehicle according to the position query request and sends the position information of the target plant protection unmanned aerial vehicle to the mobile terminal.

The historical track query module is used for querying the historical flight track of the unmanned aerial vehicle. The android client sends a historical track query request of the target plant protection unmanned aerial vehicle to the eagle eye service, the eagle eye service generates historical track information from the stored position information of the target plant protection unmanned aerial vehicle according to the historical track query request, and sends the historical track information of the target plant protection unmanned aerial vehicle to the android client.

As can be seen from fig. 2, the aurora service is used for data storage, and includes a user registration module, a user login module, and a group creation sub-module.

The user registration module is used for receiving a user registration request sent by the android client, acquiring registration information from the plant protection unmanned aerial vehicle according to the user registration request, and completing a user registration function.

The user login module is used for receiving a user login request sent by the android client, obtaining login information from the plant protection unmanned aerial vehicle according to the user login request, and performing identity confirmation on the login information to complete a user login function.

The group creation submodule is used for: according to a group creation request sent by the android client, acquiring equipment information of a target plant protection unmanned aerial vehicle from the plant protection unmanned aerial vehicle, creating a group corresponding to the boundary electronic fence, adding the equipment information of the target plant protection unmanned aerial vehicle in the group, and feeding back a group creation success signal to the android client. Wherein, target plant protection unmanned aerial vehicle, group and border fence are the one-to-one relation.

Fig. 3 is a schematic flow chart of a monitoring method for an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 3, the method includes:

step 300, the mobile terminal creates a boundary electronic fence, and sends a group creation request to the second server based on the boundary electronic fence, so that the second server creates a group corresponding to the boundary electronic fence according to the group creation request and feeds back a group creation success signal.

Optionally, the shape of the boundary fence includes a polygon, a line, and a circle.

In one embodiment, when the mobile terminal creates the boundary electronic fence, a unique identifier, an Identity (id) of a track service, a name of the boundary electronic fence, a unique identifier of a monitored object, and a denoising precision of the boundary electronic fence are set. After the track service is initialized, a boundary electronic fence is generated by using a buildRequest () function. And initiating a boundary electronic fence creation request through a createFence () function, and simultaneously creating a listener of the boundary electronic fence operation, wherein the information such as the boundary electronic fence identification, the boundary electronic fence id, the boundary electronic fence shape, the boundary electronic fence type and the like can be acquired from the listener of the boundary electronic fence operation.

Further, the mobile terminal may modify the boundary electronic fence accordingly, including reloading, updating, and deleting the boundary electronic fence.

It can be said that, in order to realize the real-time monitoring to a plurality of target unmanned aerial vehicles simultaneously, mobile terminal can establish different groups through the second server end, and every group corresponds an independent boundary electronic fence, is the equipment information of at least one target unmanned aerial vehicle in the group, and the target unmanned aerial vehicle in the same group carries out the operation in same boundary electronic fence.

The group creation request refers to that all unmanned aerial vehicles in the same boundary electronic fence are established in the same group, and each group corresponds to each boundary electronic fence one to one.

Step 301, the second server receives the group creation request, acquires device information of the target drone sent by the drone end based on the group creation request, and creates a group corresponding to the boundary electronic fence based on the device information of the target drone.

It can be noted that, after receiving the group creation request sent by the mobile terminal, the second server sends the device information acquisition request of the target drone to the drone end, and the drone end sends the device information of the target drone to the second server end according to the request.

Further, the second server receives the device information of the target unmanned aerial vehicle, creates the device information of the target unmanned aerial vehicle in the same group, and feeds back a group creation success signal to the mobile terminal.

The mobile terminal completes the group creation function through the second server terminal, and realizes instant communication with the unmanned aerial vehicle terminal.

Step 302, the mobile terminal sends the boundary electronic fence and the device information of the target unmanned aerial vehicles in the group corresponding to the boundary electronic fence to a first server.

In order to realize real-time monitoring of a plurality of target unmanned aerial vehicles at the same time, the mobile terminal sends the boundary electronic fence and the device information of the target unmanned aerial vehicles in the group corresponding to the boundary electronic fence to the first server, and then the position information of the target unmanned aerial vehicles is acquired through the first server.

Step 303, the first server receives the boundary electronic fence and the device information of the target unmanned aerial vehicle in the group corresponding to the boundary electronic fence, and acquires the position information of the target unmanned aerial vehicle sent by the unmanned aerial vehicle end based on the device information of the target unmanned aerial vehicle.

The first server end receives boundary electronic fence information sent by the mobile terminal and is used for judging whether the boundary crossing situation occurs when the target unmanned aerial vehicle works.

Further, the first server end receives device information of a target unmanned aerial vehicle in a group corresponding to the boundary electronic fence, the device information is sent by the mobile terminal, a position information obtaining request of the target unmanned aerial vehicle is sent to the unmanned aerial vehicle end according to the device information of the target unmanned aerial vehicle, the unmanned aerial vehicle end sends position information of the target unmanned aerial vehicle corresponding to the device information of the target unmanned aerial vehicle to the first server end, and the first server end receives the position information of the target unmanned aerial vehicle.

It can be stated that the device information of the target drone refers to the model of the target drone, and is used for matching the target drone corresponding to the model. And matching the corresponding target unmanned aerial vehicle according to the equipment information of the target unmanned aerial vehicle, and further acquiring the position information of the target unmanned aerial vehicle.

In one embodiment, the unmanned aerial vehicle end comprises an eagle eye trajectory management service system, and the first server end can be a Baidu eagle eye server.

Further, the eagle eye track management service system initializes track services, defines track service identification and identification entityanme of an object monitored by the service, calls a startTrace () function, starts a Baidu eagle eye server, establishes connection between the track services and the Baidu eagle eye server, calls a startGather () function, starts the track services, performs positioning collection on the track services, calls a stopTrace () function and a stopwatch () function after collection is completed, and stops collection by the track services.

Further, in order to avoid environmental impact and the limitation of positioning hardware, the obtained position information of the target unmanned aerial vehicle has errors, and a track drift phenomenon is generated. The Baidu eagle eye server identifies and removes obvious noise points and redundant data points through deviation rectifying operation, completes trajectory deviation rectifying operation, reduces data volume, and improves accuracy and generation efficiency of the flight trajectory of the unmanned aerial vehicle.

And 304, the first server side judges whether the target unmanned aerial vehicle is out of range or not based on the position relation between the position information of the target unmanned aerial vehicle and the boundary electronic fence, and sends out-of-range alarm information to the mobile terminal if the target unmanned aerial vehicle is out of range.

After the first server side acquires the position information of the target unmanned aerial vehicle, the position relation of the target unmanned aerial vehicle relative to the boundary electronic fence is judged, and whether the target unmanned aerial vehicle is out of range or not is determined.

And if the target unmanned aerial vehicle is outside the boundary electronic fence, determining that the target unmanned aerial vehicle is out of range, and sending out-of-range alarm information to the mobile terminal by the first server side.

And if the target unmanned aerial vehicle is in the boundary electronic fence, determining that the target unmanned aerial vehicle is not out of range, and not sending out-of-range alarm information by the first server side.

In the unmanned aerial vehicle monitoring method provided by the embodiment of the application, the second server end creates a group corresponding to the boundary electronic fence according to the boundary electronic fence created by the mobile terminal, so that the interference among the boundary electronic fences is reduced, the system is convenient for the visual management of monitoring of a plurality of unmanned aerial vehicles of different models, the first server end obtains the position information of the target unmanned aerial vehicle according to the boundary electronic fence sent by the mobile terminal and the equipment information of the target unmanned aerial vehicle in the group corresponding to the boundary electronic fence, based on the equipment information of the target unmanned aerial vehicle, judges whether the target unmanned aerial vehicle is out of range or not based on the position relation between the position information of the target unmanned aerial vehicle and the boundary electronic fence, and sends alarm information to the mobile terminal if the target unmanned aerial vehicle is out of range, so that the system for monitoring a plurality of unmanned aerial vehicles of different models simultaneously is realized, and the position information of the unmanned aerial vehicles of the plurality of different models is accurately obtained, carry out the alarm when unmanned aerial vehicle crosses the border and remind, and then guarantee unmanned aerial vehicle's operation safety.

Based on the content of the above embodiment, the determining, by the first server, whether the target drone is out of range based on the position relationship between the position information of the target drone and the boundary electronic fence includes:

The number of surrounding times of the target unmanned aerial vehicle relative to the boundary electronic fence can be determined according to the number of surrounding times, the number of surrounding times of the target unmanned aerial vehicle relative to the boundary electronic fence is counted according to the traveling direction of the boundary electronic fence relative to the target unmanned aerial vehicle, and the target unmanned aerial vehicle is further judged to be inside or outside the boundary electronic fence.

If the number of the surrounding is 0, the target unmanned aerial vehicle is shown to be outside the boundary electronic fence, and the boundary crossing of the target unmanned aerial vehicle is determined.

If the number of the surrounding is not 0, the target unmanned aerial vehicle is shown in the boundary electronic fence, and the target unmanned aerial vehicle is determined not to cross the boundary.

According to the unmanned aerial vehicle monitoring method provided by the embodiment of the application, the second server side determines whether the target unmanned aerial vehicle crosses the boundary through a surrounding number method, and the boundary crossing alarm function is completed, so that the operation safety of the unmanned aerial vehicle is effectively guaranteed.

Based on the content of the above embodiment, the determining, by the first server, the number of the target drones around the boundary electronic fence includes:

The first server side acquires the shape of the boundary electronic fence, establishes a three-dimensional coordinate system according to the shape of the boundary electronic fence and the position information of the target unmanned aerial vehicle, and determines the coordinate positions of the target unmanned aerial vehicle and each vertex of the boundary electronic fence.

Further, calculating a vector product of connecting lines between any two adjacent vertexes of the boundary electronic fence from the target unmanned aerial vehicle, substituting the vector product into a function tanh (x), and determining the traveling direction of the boundary electronic fence relative to the target unmanned aerial vehicle according to a calculation result.

It should be noted that the passing direction includes left to right and right to left, where left to right represents positive passing and is recorded as (+1), and right to left represents negative passing and is recorded as (-1).

Furthermore, counting the passing direction of each variable length of the boundary electronic fence relative to the target unmanned aerial vehicle, and calculating the number of the surrounding.

According to the unmanned aerial vehicle monitoring method, the three-dimensional coordinate system is established, the vector product of the connecting line between the target unmanned aerial vehicle and any two adjacent vertexes of the boundary electronic fence is calculated, the traveling direction of the boundary electronic fence relative to the target unmanned aerial vehicle is determined according to the vector product, the surrounding number is calculated according to the traveling direction, the surrounding number is used for judging whether the target unmanned aerial vehicle is out of range or not, the function of out-of-range alarming is further achieved, and the operation safety of the unmanned aerial vehicle is effectively guaranteed.

Based on the content of the foregoing embodiment, the calculating, by the first server, a vector product of connecting lines between any two adjacent vertices of the boundary electronic fence and the target drone includes:

n_k＝tanh(d_k) (2)；

In one embodiment, the calculation of the vector product of the target drone to any two adjacent vertex connecting lines of the boundary electronic fence based on the three-dimensional coordinate system is described with reference to fig. 4 to 6.

Fig. 4 is a scene schematic diagram of a two-dimensional coordinate system according to an embodiment of the present application. The position information of the target unmanned aerial vehicle in the group and the shape and the position of the boundary electronic fence are obtained, and a two-dimensional coordinate system is established according to the position information of the target unmanned aerial vehicle and the shape and the position information of the boundary electronic fence, as shown in fig. 4. The xoy coordinate system represents a two-dimensional coordinate system, a polygon V₁V₂V₃V₄V₅V₆V₇Indicating a boundary fence, point V₁、V₂、V₃、V₄、V₅、V₆、V₇Respectively representing the vertices, edges V, of the bounding fence₁V₂、V₂V₃、V₃V₄、V₄V₅、V₅V₆、V₆V₇And V₇V₁And respectively representing the side lengths of the boundary electronic fence, and the point P represents the position information of the target unmanned aerial vehicle.

Fig. 5 is a schematic view of a three-dimensional coordinate system according to an embodiment of the present disclosure. In order to determine the position relationship between the target drone and each side length of the boundary electronic fence, the two-dimensional coordinate system shown in fig. 4 needs to be converted into a three-dimensional space coordinate system, as shown in fig. 5, the shapes and positions of the target drone and the boundary electronic fence are in the x 'o' y 'plane, and the z' axis component is 0.

Respectively calculating point P and polygon V₁V₂V₃V₄V₅V₆V₇The cross product of any two adjacent vertex lines. Obtaining P (x) according to a three-dimensional space coordinate system_p,y_p,0)、V_k(x_k,y_k0) and V_j(x_j,y_j0), point V_kAnd point V_jRepresenting any two adjacent vertexes in C to obtain

Then the vector product is:

according to a three-dimensional coordinate system established by the target unmanned aerial vehicle and the boundary electronic fence, calculating the passing direction of the boundary electronic fence relative to the unmanned aerial vehicle end by using a formula (2):

n_k＝tanh(d_k) (2)。

fig. 6 is a second schematic view of a three-dimensional coordinate system according to an embodiment of the present application. As shown in fig. 6, a ray R is taken from a point P as a starting point to any point of the boundary fence, and an intersection point of the ray R and the boundary fence is Q, so as to obtain a vector

If tanh (d)_k) When the value is 0, the point P and the point V are described_kAnd point V_jThree points co-linear。

If tanh (d)_k) Not equal to 0, from vector

Side length of boundary electronic fence with intersection point Q

The vector product of (2) is used to determine the direction of the side length of the boundary fence passing through the ray R.

If n is_kIf < 0, then n_k' -1, meaning that the direction of the boundary fence through ray R is from left to right if n_kIf > 0, then n_k' 1, indicates that the direction of the boundary fence crossing ray R is from right to left.

When the point P and the m side lengths of the boundary electronic fence have intersection points, calculating the number of the surrounding by using a formula (3) according to the direction of the boundary electronic fence passing through the ray R:

if wn (P, C) is not equal to 0, the target unmanned aerial vehicle is positioned in the boundary electronic fence;

if wn (P, C) ═ 0, the target drone is outside the border fence.

Further, by increasing the calculation frequency of the number of the surrounding, it can be obtained that, as the number of the surrounding times is gradually reduced, the target unmanned aerial vehicle gradually drives to the boundary until the number of the surrounding times is 0, which indicates that the target unmanned aerial vehicle flies from the inside to the outside of the boundary electronic fence and needs to send out an out-of-range alarm.

Based on the content of the above embodiment, after the first server determines whether the target drone is out of range based on the position relationship between the position information and the boundary electronic fence, the method further includes:

If the minimum distance is smaller than a preset threshold value, the flight trend of the target unmanned aerial vehicle is further judged, and if the unmanned aerial vehicle flies to the outside of the boundary electronic fence, the first server side sends out boundary crossing early warning information to the mobile terminal.

If the minimum distance is greater than the preset threshold value, or the minimum distance is smaller than the preset threshold value and the unmanned aerial vehicle flies into the boundary electronic fence, the first server does not send out the boundary crossing early warning information.

According to the unmanned aerial vehicle monitoring method, the situation that the target unmanned aerial vehicle does not cross the boundary is further judged, whether the target unmanned aerial vehicle has the boundary crossing trend or not is accurately judged according to the preset threshold value and the flight direction of the target unmanned aerial vehicle, boundary crossing early warning information is sent, and the operation safety of the unmanned aerial vehicle is effectively guaranteed.

Based on the content of the above embodiment, the obtaining, by the first server, the minimum distance between the target drone and the boundary electronic fence includes:

In one embodiment, the target unmanned aerial vehicle and adjacent vertexes of the boundary electronic fence form a plurality of triangles based on a three-dimensional coordinate system, and the distances from the target unmanned aerial vehicle to the side lengths of the boundary electronic fence are calculated by using a triangle area formula.

Further, coordinate positions of the target unmanned aerial vehicle and each vertex of the boundary electronic fence are obtained, and the distance from the target unmanned aerial vehicle to each vertex is calculated.

Further, the distances from the target unmanned aerial vehicle to each vertex of the boundary electronic fence and the distances from the target unmanned aerial vehicle to each side length are sequenced, and the minimum distance is determined, namely the minimum distance from the target unmanned aerial vehicle to the boundary electronic fence.

According to the unmanned aerial vehicle monitoring method provided by the embodiment of the application, the minimum distance from the target unmanned aerial vehicle to the boundary electronic fence is determined by calculating the distance from the target unmanned aerial vehicle to each vertex and each side length of the boundary electronic fence, whether the target unmanned aerial vehicle has the border crossing trend or not is accurately judged according to the relation between the minimum distance and the preset threshold value and the flight direction of the target unmanned aerial vehicle, border crossing early warning information is sent, and the operation safety of the unmanned aerial vehicle is effectively guaranteed.

The unmanned aerial vehicle monitoring system is described with reference to fig. 7 to 9 as to whether the target unmanned aerial vehicle is out of range and whether to send out-of-range alarm information.

And (3) carrying out flight monitoring test on the spraying operation of the target unmanned aerial vehicle by using the unmanned aerial vehicle monitoring system for 200 times in total. Whether the unmanned aerial vehicle monitoring system gives early warning to the flight behavior of the target unmanned aerial vehicle or not is tested, and alarm information is sent when the target unmanned aerial vehicle crosses the border.

Fig. 7 is a scene schematic diagram of safe flight of a target unmanned aerial vehicle provided in an embodiment of the present application. As shown in fig. 7, if the unmanned aerial vehicle monitoring system detects that the target unmanned aerial vehicle flies inside the boundary electronic fence, and the target unmanned aerial vehicle does not move to the early warning range, the unmanned aerial vehicle monitoring system does not perform early warning or alarm reminding beyond the boundary.

Fig. 8 is a scene schematic diagram of a target drone entering an early warning range provided in an embodiment of the present application. As shown in fig. 8, if the unmanned aerial vehicle monitoring system detects that the target unmanned aerial vehicle flies inside the boundary electronic fence, but the minimum distance between the target unmanned aerial vehicle and the boundary electronic fence is less than 5 meters, whether the target unmanned aerial vehicle has a tendency of crossing the boundary flight is further judged, and if so, the target unmanned aerial vehicle is detected to enter an early warning range, and an early warning prompt is sent out.

Fig. 9 is a scene schematic diagram of a target drone out of range provided in an embodiment of the present application. As shown in fig. 9, if the drone monitoring system detects that the target drone is flying outside the boundary electronic fence, it sends out the boundary-crossing warning message.

The result shows that unmanned aerial vehicle monitored control system has higher accuracy and reliability, accurately acquires a plurality of different model unmanned aerial vehicle's positional information, carries out the alarm when unmanned aerial vehicle crosses the border and reminds, and then ensures unmanned aerial vehicle's operation safety.

Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application, as shown in fig. 10, the electronic device may include: a processor (processor)1010, a communication Interface (Communications Interface)1020, a memory (memory)1030, and a communication bus 1040, wherein the processor 1010, the communication Interface 1020, and the memory 1030 communicate with each other via the communication bus 1040. Processor 1010 may invoke logic instructions in memory 1030 to perform a drone monitoring method comprising:

Furthermore, the logic instructions in the memory 1030 can be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present application also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to perform the drone monitoring method provided by the above-mentioned method embodiments, the method comprising:

In yet another aspect, the present application further provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements a method for monitoring a drone, the method including:

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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 in the embodiments of the present application.

Claims

1. An unmanned aerial vehicle monitored control system, its characterized in that includes:

2. The unmanned aerial vehicle monitoring system of claim 1, wherein the first server is further configured to obtain a minimum distance from the target unmanned aerial vehicle to the boundary electronic fence if the target unmanned aerial vehicle is not out of range, and send out-of-range warning information to the mobile terminal if the minimum distance is smaller than a preset threshold and the target unmanned aerial vehicle flies outside the boundary electronic fence.

3. An unmanned aerial vehicle monitoring method based on the unmanned aerial vehicle monitoring system of any one of claims 1 to 2, comprising:

4. The unmanned aerial vehicle monitoring method of claim 3, wherein the determining, by the first server, whether the target unmanned aerial vehicle is out of range based on a position relationship between the position information of the target unmanned aerial vehicle and the boundary electronic fence comprises:

5. The drone monitoring method of claim 4, wherein the first server determines the number of revolutions of the target drone relative to the boundary fence, including:

6. The drone monitoring method of claim 5, wherein the first server calculates a cross product of the target drone to any two adjacent vertex lines of the boundary electronic fence, including:

n_k＝tanh(d_k) (2)；

7. The unmanned aerial vehicle monitoring method of claim 3, wherein after the first server determines whether the target unmanned aerial vehicle is out of range based on the position relationship between the position information and the boundary electronic fence, the method further comprises:

8. The drone monitoring method of claim 7, wherein the first server side obtaining the minimum distance between the target drone and the boundary electronic fence includes:

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the drone monitoring method of any one of claims 3 to 8.

10. A non-transitory computer-readable storage medium, having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the drone monitoring method according to any one of claims 3 to 8.