CN114756050A - Automatic cruise system applied to unmanned aerial vehicle remote sensing scene - Google Patents

Abstract

The invention discloses an automatic cruise system applied to a remote sensing scene of an unmanned aerial vehicle, comprising a ground control command launch tower and a cruise unmanned aerial vehicle. The cruise drone cruises, supplies energy for the cruise drone and monitors the meteorological conditions in the area; the cruise drone is a quadrotor drone, which is used to monitor abnormal conditions in the monitoring area and monitor the weather conditions in the area. The monitoring results are sent back to the ground control and command launch tower; the ground control and command launch tower specifically includes a retractable tripod, an unmanned aerial vehicle parking bay, an automatic light-following solar panel and a sensor group. The system is portable and can be applied to terrains such as plains and hills. It can be widely used in forest fire prevention inspections and agricultural data collection to realize unmanned intelligent monitoring.

Description

An automatic cruise system applied to remote sensing scenes of unmanned aerial vehicles

technical field

The invention relates to the technical field of agricultural monitoring and electronic information, in particular to an automatic cruise system applied to a remote sensing scene of an unmanned aerial vehicle.

Background technique

Agricultural monitoring is one of the important links in agricultural production, and its main work is to monitor crops in a timely manner, such as plant diseases and insect pests, lodging, droughts and floods, and growing conditions. Good agricultural monitoring should achieve high timeliness and accuracy, so as to achieve timely management and control of disasters and increase production and ensure income. The traditional agricultural monitoring is mainly realized by visual hand inspection in artificial fields, which has shortcomings such as huge workload, poor timeliness, manpower and material resources. Satellite remote sensing technology is a relatively practical non-destructive monitoring method, but it also has its limitations. For example, satellite imagery cannot effectively play its role in rice-growing provinces with many hills, complex terrain, and cloudy and rainy weather. UAV remote sensing has the advantages of high mobility, convenient use and low cost, and has become a popular and practical technical means.

The current UAV monitoring technology is relatively mature, but it is generally achieved by artificially flying UAVs and human real-time monitoring; on the other hand, the current intelligent inspection equipment is expensive and needs to build a large number of ground facilities as a benchmark Equipment, agricultural and forestry crop planting areas are not suitable for large-scale monitoring operations due to reasons such as cost and difficulty in operation; therefore, the existing drone cruise systems have limitations in terms of battery life, fully automated operations, and unmanned operations. The earth limits the flexibility of the use of cruise drones.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an automatic cruise system applied to remote sensing scenarios of unmanned aerial vehicles. The system is portable, can be applied to terrains such as plains and hills, and can be widely used in forest fire inspections and agricultural data collection. Smart monitoring.

The purpose of this invention is to realize through the following technical solutions:

An automatic cruise system applied to a remote sensing scene of an unmanned aerial vehicle, the system includes a ground control command launch tower and a cruise unmanned aerial vehicle, wherein:

The ground control command launch tower is arranged near the monitoring area to be cruised, and is used to control the cruise drone to cruise, to supply energy for the cruise drone, and to monitor the meteorological conditions in the area;

The cruise UAV is a quadrotor UAV, which is used to monitor abnormal conditions in the monitoring area, and transmit the monitoring results back to the ground control command and launch tower;

The ground control and command launch tower specifically includes a retractable tripod, a drone parking bay, an automatic light-following solar panel and a sensor group, wherein:

The unmanned aerial vehicle parking compartment, the automatic light-following solar panel and the sensor group are all placed on the retractable tripod;

A circular rotating platform is arranged on the top of the telescopic tripod, which can drive the UAV parking compartment, the automatic tracking solar panel and the sensor group to rotate horizontally under the action of the control signal;

The UAV parking compartment is a top horizontal double opening and closing structure for parking the cruise UAV;

The sensor group specifically includes a wind direction sensor, a wind speed sensor, a humidity sensor and a signal transceiver, which are respectively located above the four corners of the top of the drone cabin and are connected with L-shaped brackets; wherein the signal transceiver is used to connect with the the cruise drone communication;

There are three groups of the automatic light-following solar panels, all of which are rectangular in shape, two of which are fixed on the horizontal double opening and closing structure on the top of the drone cabin; the other group is fixed on the outside of the drone cabin. side.

It can be seen from the technical solutions provided by the present invention that the above system is portable, can be applied to terrains such as plains and hills, can be widely used in forest fire prevention inspections and agricultural data collection, realizes unmanned intelligent monitoring, and solves the problem of unmanned monitoring. In the process of collecting remote sensing data by computer, the problem of high difficulty in operation has a wide range of application prospects.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of an automatic cruise system applied to an unmanned aerial vehicle remote sensing scene provided by an embodiment of the present invention;

FIG. 2 is an isometric structural view of the drone parking compartment according to the embodiment of the present invention;

3 is a schematic diagram of the internal structure of the UAV parking compartment according to the embodiment of the present invention;

Fig. 4 is the structural schematic diagram of the lifting platform according to the embodiment of the present invention being placed;

FIG. 5 is a schematic structural diagram of an upside-down lifting platform according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a cruise drone according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. It does not constitute a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

1 is a schematic structural diagram of an automatic cruise system applied to an unmanned aerial vehicle remote sensing scene provided by an embodiment of the present invention, the system includes a ground control command launch tower and a cruise unmanned aerial vehicle (5), wherein:

The ground control command launch tower is arranged near the monitoring area to be cruised, and is used to control the cruise drone (5) to cruise, to supply energy for the cruise drone (5) and to monitor the meteorological conditions in the area;

The cruise drone (5) is a quadrotor drone, which is used for monitoring abnormal conditions in the monitoring area, and returning the monitoring results to the ground control command launch tower;

The ground control and command launch tower specifically includes a retractable tripod support (1), an unmanned aerial vehicle parking bay (2), an automatic light-following solar panel (3) and a sensor group, wherein:

The unmanned aerial vehicle parking compartment (2), the automatic light-following solar panel (3) and the sensor group are all placed on the retractable triangular bracket (1);

A circular rotating platform is arranged on the top of the retractable tripod (1), which can drive the UAV parking compartment (2), the automatic light-following solar panel (3) and the sensor group to rotate horizontally under the action of a control signal;

The UAV parking compartment (2) has a top horizontal double opening and closing structure for parking the cruise UAV (5);

The sensor group specifically includes a wind direction sensor (4-1), a wind speed sensor (4-2), a humidity sensor (4-3) and a signal transceiver (4-4), which are respectively located in the UAV parking compartment (2). ) above the four corners of the top, connected with an L-shaped bracket; wherein, the signal transceiver (4-4) is used to communicate with the cruise drone (5);

There are three groups of the automatic light tracking solar panels (3), all of which are rectangular in shape, of which two groups are fixed on the horizontal double opening and closing structure on the top of the drone parking compartment (2); the other group is fixed on the The outer side of the man-machine parking compartment (2). The advantage of this arrangement is that a group of automatic light-following solar panels (3) placed on the side can always face the sun under the rotation of the retractable tripod (1), so as to increase the light-receiving area and maximize the energy collection efficiency. The solar energy is obtained with high efficiency by using the automatic chasing solar panel (3), after the cruise drone (5) returns to the drone parking bay (2), it will automatically charge the drone to the drone by wireless charging. Supply energy to avoid the need to manually charge the drone after a long time of use.

In the specific implementation, the wind direction sensor (4-1), the wind speed sensor (4-2) and the humidity sensor (4-3) collect the meteorological information of the surrounding environment of the system in real time, so as to judge whether the cruise unmanned take off conditions of the aircraft (5), or determine whether the cruise drone (5) needs to be recalled, wherein:

When the humidity sensor (4-3) detects that the current environment is dry, it will automatically increase the number of cruises of the cruise drone (5);

The wind direction sensor (4-1) and the wind speed sensor (4-2) also send measurement data to the cruise drone (5), which are the cruise path and cruise speed of the cruise drone (5). , Cruising altitude for reference;

If there is rain, snow and strong wind that do not meet the flight conditions, the cruise drone (5) will not receive a take-off instruction;

If the cruise drone (5) encounters rain, snow and strong winds during the flight, the ground control command launch tower will send a return instruction to the cruise drone (5) to ensure the Safety of cruise drones (5).

Figure 2 is an isometric structural view of the drone parking bay according to the embodiment of the present invention, and Figure 3 is a schematic diagram of the internal structure of the drone parking bay, in conjunction with Figures 2 and 3:

The UAV parking compartment (2) has a top horizontal double opening and closing structure, and is equipped with a lifting platform (2-1), a transmission structure (2-2), a camera (2-3), a control module (2-4), A beamline (2-5) and a microphone acquisition array (2-6), wherein:

The lifting platform (2-1), the transmission structure (2-2), the camera (2-3), and the microphone acquisition array (2-6) are all electrically connected to the control module (2-4);

The lifting platform (2-1) is used for parking the cruise drone (5), and can be lifted and lowered under the control of the control module (2-4), as shown in FIG. 4, which is an embodiment of the present invention. The structural schematic diagram of the lifting platform being placed upright, as shown in Figure 5, is the structural schematic diagram of the lifting platform being placed upside down. 2-1-2); In order to facilitate the working of the photosensitive disc (2-1-1), the color of the lifting platform (2-1) is transparent;

The transmission structure (2-2) is used to control the opening and closing of the UAV parking compartment (2);

The control module (2-4) is used to control the actions of the UAV parking compartment (2), and is also responsible for information storage and information processing;

The camera (2-3) is used to monitor ground conditions;

The wire harness (2-5) is used for arranging the lines to prevent the lifting platform (2-1) from being blocked due to the disorder of the lines when the lifting platform (2-1) is displaced;

The microphone collection array (2-6) is placed on the outer side of the drone cabin (2), and is used for collecting insect sounds in the surrounding environment to determine whether there are pests.

FIG. 6 is a schematic structural diagram of the cruise drone according to the embodiment of the present invention. The cruise drone (5) includes a drone processing module, a multispectral camera (5-3), a flight control module, a rotating Gimbal and wireless charging coil (5-2), of which:

The UAV processing module controls the flight control module, simultaneously sends the remote sensing data acquired by the multispectral camera (5-3) to the ground control command and launch tower, and receives and processes the ground control command and launch tower instructions sent;

The multispectral camera (5-3) is installed on the rotating pan-tilt, and is used to acquire the ground remote sensing information of visible, near-infrared, and long-wave infrared detection in real time, and send the acquired data through the UAV processing module to said ground control command tower;

The flight control module is controlled by the UAV processing module, and sends sensing data to the UAV processing module;

The rotating pan/tilt head is installed at the bottom of the cruise drone (5), and two-degree-of-freedom motion is realized through two stepping motors, and the position and shooting angle of the multispectral camera (5-3) are adjusted to ensure The multispectral camera (5-3) is kept stable and aimed at the target area;

The wireless charging coil (5-2) is used to provide power for the cruise drone (5).

In a specific implementation, the flight control module includes a laser transmitter (5-1), a high-precision gyroscope, an ultrasonic ranging sensor and a positioning module, wherein:

Each part of the flight control module is electrically connected to the UAV processing module, and is controlled by the UAV processing module to send sensing data to the UAV processing module;

The laser transmitter (5-1) is installed on the side wall of the cruise drone (5). The cylindrical object connected to the side wall in FIG. 6 is the laser transmitter (5-1). When the cruise drone (5) lands back into the cabin, a laser is emitted vertically downward to assist the cruise drone (5) to land;

The high-precision gyroscope is used to monitor the flight attitude, speed, acceleration and direction of the cruise drone (5) in real time;

There are four ultrasonic ranging sensors in total, which are respectively installed on the four sides of the cruise drone (5), and provide feedback when unexpected obstacles appear around the drone to complete instant obstacle avoidance;

The positioning module is used to acquire position information in real time, so as to ensure that the cruise drone (5) moves according to a predetermined trajectory.

In a specific implementation, in the process of returning the cruise drone (5) to the drone parking bay (2), the following operations are included:

The first step: the cruise drone (5) returns to the vicinity of the ground control command launch tower through the GPS navigation system;

The second step: the signal transceiver (4-4) on the ground control command transmission tower transmits electromagnetic waves to the surrounding space, and the cruise drone (5) further determines the position of the parking compartment according to the radio direction finding technology;

The third step: the laser transmitter on the cruise drone (5) emits laser vertically downward, and the sensing disc (2-1-1) in the drone cabin (2) is irradiated by the sensing laser The position sends a fine-tuning instruction to the cruise drone (5); when the cruise drone (5) reaches the optimal horizontal position, it descends into the parking cabin, and realizes accurate and fully automatic return to the cabin.

In addition, taking into account the bandwidth limitation, during the cruise process of the cruise drone (5), the cruise drone (5) first returns a low-quality, low-frame-rate image to the ground control command launch tower; After the cruise UAV (5) returns to the cabin, it transmits high-definition image information to the ground control command transmission tower in a WIFI manner.

In a specific implementation, the above-mentioned automatic cruise system can be used to monitor the fire situation, the cruise drone (5) locates the fire situation in the cruise area with target recognition technology, and after the fire situation is found, the cruise drone (5) will sending a disaster warning to said ground control command tower;

After receiving the disaster warning, the ground control command launch tower will send the disaster information to the relevant software platform, and the user can take corresponding measures after receiving the warning on the relevant software platform, such as sending a fire-fighting drone to fly to the fire point and throw fire-fighting bombs to prevent fire. Control fire, etc.

In addition, the number of the ground control command launch towers can be flexibly adjusted according to the needs of use. There are two purposes: one is to collect meteorological information at multiple points in the monitoring area, and the other is to prevent the cruise drone (5) from returning to the cabin. It wastes energy by having to go back and forth.

The above-mentioned automatic cruise system has a high degree of freedom of use. The cruise route, drone photo points, and automatic cruise parameters can be arbitrarily set on the software platform, and can be used flexibly according to needs.

It should be noted that the content not described in detail in the embodiments of the present invention belongs to the prior art known to those skilled in the art.

The working process of the above automatic cruise system is described as follows:

Before the cruise drone (5) takes off, it is necessary to set the cruise parameters of the drone on the software platform, including cruise time, cruise route, cruise speed, data collection points, etc.; then these parameters are sent to the The ground control and command launch tower is then transmitted to the cruise drone (5) together with the meteorological information collected by the sensor group in the form of a WIFI network; the cruise drone ( 5) After receiving the information, it will judge the weather information, remaining power, etc. If the take-off conditions are met, the UAV parking compartment (2) will be automatically opened, and will be closed automatically after the cruise UAV (5) flies away; if the take-off conditions are not met, the UAV will Wait for the next parameter transmission and repeat the above judgment process.

After the cruise drone (5) takes off, it will cruise according to preset parameters. During the cruise, the ground control command launch tower will continue to send weather information to the cruise drone (5) for the cruise drone (5) to determine whether it needs to return; at the same time, the cruise drone ( 5) It will also report its own flight parameters (such as coordinates, flight speed, power, flight direction, etc.) to the ground control command launch tower through the network to ensure safety. After the cruise drone (5) flies to a pre-set cruise location, it will keep hovering, and the multispectral camera (6-3) will rotate in all directions to acquire remote sensing images.

After the cruise drone (5) completes its return to the cabin, the cruise drone (5) will transmit the remote sensing image to the drone parking bay (2), and then the drone parking bay (2) will Upload the data to the software platform to process the data, and feed back the analysis results to the user, and at the same time the drone parking bay (2) will charge the cruise drone (5) by wireless charging, for the next time Preparing for a cruise mission.

To sum up, the system described in the embodiments of the present invention is portable, can be applied to terrains such as plains and hills, can be widely used in forest fire prevention inspections and agricultural data collection, realizes unmanned intelligent monitoring, and solves the problem of unmanned aerial vehicle collection. In the process of remote sensing data, the difficulty of operation is high, and it has a wide range of application prospects.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims. The information disclosed in this Background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Claims (9)

1. The utility model provides an automatic cruise system for unmanned aerial vehicle remote sensing scene, its characterized in that, the system includes ground control commander launching tower and unmanned aerial vehicle that cruises, wherein:

the ground control command transmitting tower is arranged near a to-be-cruising monitoring area and used for controlling the cruising unmanned aerial vehicle to cruise, supplying energy to the cruising unmanned aerial vehicle and monitoring meteorological conditions in the area;

the cruise unmanned aerial vehicle is a quad-rotor unmanned aerial vehicle and is used for monitoring abnormal conditions in a monitoring area and returning a monitoring result to the ground control command launching tower;

ground control commander launching tower specifically includes scalable A-frame, unmanned aerial vehicle and stops the cabin, follows spot solar panel and sensor group automatically, wherein:

the unmanned aerial vehicle cabin stopping device, the automatic light following solar panel and the sensor group are all arranged on the telescopic triangular support;

a circular rotating platform is arranged at the top of the telescopic triangular support and can drive the unmanned aerial vehicle to stop the cabin, automatically follow the light of the solar panel and the sensor group to horizontally rotate under the action of control signals;

the unmanned aerial vehicle cabin is of a top horizontal double-opening and closing structure and is used for parking the cruising unmanned aerial vehicle;

the sensor group comprises a wind direction sensor, a wind speed sensor, a humidity sensor and a signal transceiver, which are respectively positioned above four corners of the top of the unmanned aerial vehicle parking space and connected by an L-shaped bracket; wherein the signal transceiver is used for communicating with the cruise drone;

the automatic light following solar panels are three groups in total, are rectangular in shape, and two groups of the automatic light following solar panels are fixed on a horizontal double-opening-closing structure at the top of the unmanned aerial vehicle parking space; and the other group of the unmanned aerial vehicle is fixed on one side of the outer part of the parking cabin.

2. The automatic cruise system applied to the unmanned aerial vehicle remote sensing scene as claimed in claim 1, wherein said wind direction sensor, wind speed sensor and humidity sensor collect weather information of the system surroundings in real time for judging whether the take-off condition of said cruise unmanned aerial vehicle is reached or whether the cruise unmanned aerial vehicle needs to be recalled, wherein:

when the humidity sensor detects that the current environment is dry, the cruising times of the cruising unmanned aerial vehicle are automatically increased;

the wind direction sensor and the wind speed sensor also send measurement data to the cruise unmanned aerial vehicle to provide reference for the cruise path, the cruise speed and the cruise height of the cruise unmanned aerial vehicle;

if the weather of rain, snow and strong wind which do not meet the flight conditions exists, the cruising unmanned aerial vehicle does not receive a take-off instruction;

if the cruising unmanned aerial vehicle suddenly encounters rain, snow and strong wind in the flying process, the ground control command transmitting tower sends a cabin returning instruction to the cruising unmanned aerial vehicle so as to ensure the safety of the cruising unmanned aerial vehicle.

3. The automatic cruise system applied to the remote sensing scene of the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle parking space is a top horizontal double-opening and closing structure, and is provided with a lifting platform, a transmission structure, a camera, a control module, a wire harness and a microphone collection array, wherein:

the lifting platform, the transmission structure, the camera and the microphone acquisition array are electrically connected with the control module;

the lifting platform is used for parking the cruise unmanned aerial vehicle, can be lifted under the control of the control module, and is provided with a light sensing disc and a wireless charging device at the bottom;

the transmission structure is used for controlling the opening and closing of the unmanned aerial vehicle parking space;

the control module is used for controlling the action of stopping the cabin of the unmanned aerial vehicle and is also responsible for information storage and information processing;

the camera is used for monitoring the ground condition;

the wire harness is used for arranging the lines and preventing the lines from being blocked due to disorder when the lifting platform is displaced;

the microphone collecting array is arranged on the outer side of the unmanned aerial vehicle cabin and used for collecting bug sounds in the surrounding environment to judge whether harmful insects exist.

4. The automatic cruise system applied to the remote sensing scene of the unmanned aerial vehicle according to claim 1, wherein the cruise unmanned aerial vehicle comprises an unmanned aerial vehicle processing module, a multispectral camera, a flight control module, a rotating cradle head and a wireless charging coil, wherein:

the unmanned aerial vehicle processing module controls the flight control module, simultaneously sends remote sensing data acquired by the multispectral camera to the ground control command launching tower, and receives and processes instructions sent by the ground control command launching tower;

the multispectral camera is mounted on the rotating holder and used for acquiring visible, near-infrared and long-wave infrared detection ground remote sensing information in real time and sending acquired data to the ground control command transmitting tower through the unmanned aerial vehicle processing module;

the flight control module is controlled by the unmanned aerial vehicle processing module and sends sensing data to the unmanned aerial vehicle processing module;

the rotating tripod head is installed at the bottom of the cruising unmanned aerial vehicle, two-degree-of-freedom motion is realized through two stepping motors, and the position and the shooting angle of the multispectral camera are adjusted to ensure that the multispectral camera is kept stable and is aligned to a target area;

the wireless charging coil is used for providing electric power for the unmanned aerial vehicle that cruises.

5. The automatic cruise system applied to unmanned aerial vehicle remote sensing scenes of claim 4, wherein said flight control module comprises a laser transmitter, a high precision gyroscope, an ultrasonic ranging sensor and a positioning module, wherein:

each part in the flight control module is electrically connected with the unmanned aerial vehicle processing module, and is controlled by the unmanned aerial vehicle processing module to send sensing data to the unmanned aerial vehicle processing module;

the laser emitter is installed on the side wall of the cruise unmanned aerial vehicle, and when the cruise unmanned aerial vehicle falls back to the cabin, laser is vertically emitted downwards to assist the cruise unmanned aerial vehicle to land;

the high-precision gyroscope is used for monitoring the flight attitude, speed, acceleration and direction of the cruising unmanned aerial vehicle in real time;

the number of the ultrasonic ranging sensors is four, the ultrasonic ranging sensors are respectively installed on four side faces of the cruise unmanned aerial vehicle, and when unexpected obstacles appear around the unmanned aerial vehicle, feedback is given to the unmanned aerial vehicle, so that immediate obstacle avoidance is completed;

the positioning module is used for acquiring position information in real time and ensuring that the cruise unmanned aerial vehicle moves according to a preset track.

6. The automatic cruise system applied to the remote sensing scene of the unmanned aerial vehicle according to claim 1, characterized in that during the process of returning the cruise unmanned aerial vehicle to the unmanned aerial vehicle parking space, the following operations are included:

the first step is as follows: the cruising unmanned aerial vehicle returns to the position near the ground control command transmitting tower through a GPS navigation system;

the second step is that: the signal transceiver on the ground control command launching tower launches electromagnetic waves to the surrounding space, and the cruising unmanned aerial vehicle further determines the position of the cabin to be stopped according to the radio direction finding technology;

the third step: a laser transmitter on the cruising unmanned aerial vehicle vertically emits laser downwards, and a photosensitive disc in the unmanned aerial vehicle parking cabin sends a fine adjustment instruction to the cruising unmanned aerial vehicle by sensing the laser irradiation position; when unmanned aerial vehicle that cruises descends to shutting down the under-deck after reaching best horizontal position, realize accurate full-automatic back of the cabin.

7. The automatic cruise system applied to the remote sensing scene of the unmanned aerial vehicle according to claim 1, wherein in the cruise process of the cruise unmanned aerial vehicle, the cruise unmanned aerial vehicle firstly returns low-image-quality and low-frame-rate images to the ground control command transmitting tower; and after the cruising unmanned aerial vehicle returns to the cabin, transmitting high-definition image information to the ground control command transmitting tower in a WIFI mode.

8. The automatic cruise system applied to the unmanned aerial vehicle remote sensing scene as claimed in claim 1, wherein the cruise unmanned aerial vehicle uses a target recognition technology to locate the fire in the cruise area, and after the fire is found, the cruise unmanned aerial vehicle sends a disaster warning to the ground control command launching tower;

and after receiving the disaster warning, the ground control command transmitting tower sends disaster information to the relevant software platform, and the user can take corresponding measures after receiving the warning on the relevant software platform.

9. The automatic cruise system applied to the remote sensing scene of the unmanned aerial vehicle according to claim 1,

the number of the ground control command launching towers can be flexibly adjusted according to the use requirement.

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