CN116343532A - Intelligent combined unmanned aerial vehicle management and control system based on data analysis - Google Patents
Intelligent combined unmanned aerial vehicle management and control system based on data analysis Download PDFInfo
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Abstract
The invention discloses an intelligent combined unmanned aerial vehicle control system based on data analysis, which belongs to the technical field of unmanned aerial vehicle flight process control and comprises a task information acquisition module, an image acquisition module, a flight state detection module, a flight state analysis module and a drive control module. The unmanned aerial vehicle flight state detection module, the flight state analysis module and the like are arranged, so that the unmanned aerial vehicle flight state can be conveniently detected and analyzed, and the unmanned aerial vehicle flight process can be conveniently controlled according to the analysis result; based on the flight height and the flight speed, the flight state of the unmanned aerial vehicle is detected and analyzed, so that the combined control of the flight process of the unmanned aerial vehicle can be conveniently realized, and continuous intervention is not required.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight process control, in particular to an intelligent combined unmanned aerial vehicle control system based on data analysis.
Background
Unmanned aircraft, for short, "unmanned aircraft," is unmanned aircraft that is maneuvered using a radio remote control device and a self-contained programming device, or is operated autonomously, either entirely or intermittently, by an on-board computer. Unmanned aerial vehicles are in fact a collective term for unmanned aerial vehicles, which from a technical point of view can be defined as: unmanned fixed wing aircraft, unmanned vertical takeoff and landing aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, unmanned parachute wing aircraft, and the like. Compared with manned aircraft, it has the advantages of small size, low cost, convenient use, low requirement for battle environment, strong battlefield survivability, etc. Because the unmanned aerial vehicle has important significance for future air combat, all the main military countries in the world are tightening to develop the unmanned aerial vehicle.
For unmanned aerial vehicles, it is often necessary to go to a designated airspace to perform flight tasks, such as patrol, inspection, and the like. At present, the unmanned aerial vehicle is controlled in the flight process by combining a GPS positioning module of the unmanned aerial vehicle with manual control, so that the unmanned aerial vehicle is controlled in the flight process, the control mode is inconvenient, continuous manual intervention is required, certain inconvenience is brought to the use process, and the use experience of products is reduced. Therefore, an intelligent combined unmanned aerial vehicle management and control system based on data analysis is provided.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: how to solve the problem that the existing control mode is inconvenient and needs continuous manual intervention, and certain inconvenience is brought to the use process, and an intelligent combined unmanned aerial vehicle control system based on data analysis is provided.
The invention solves the technical problems through the following technical scheme that the invention comprises a task information acquisition module, an image acquisition module, a flight state detection module, a flight state analysis module and a driving control module;
the task information acquisition module is used for acquiring the current flight task information of the unmanned aerial vehicle and analyzing the flight task information;
the image acquisition module is used for acquiring a face-up image containing the current unmanned aerial vehicle according to a set period, namely an unmanned aerial vehicle image, and preprocessing the unmanned aerial vehicle image;
the flight state detection module is used for acquiring the flight height, the flight direction and the flight speed value of the current unmanned aerial vehicle at the current moment according to the unmanned aerial vehicle image subjected to noise reduction and enhancement processing;
the flight state analysis module is used for comparing and analyzing the flight height, the flight direction and the flight speed value of the current unmanned aerial vehicle at the current moment point with the flight height range, the flight speed value and the flight direction of the current moment point of the current unmanned aerial vehicle preset in the current flight task to obtain a flight height analysis result, a flight direction analysis result and a flight speed value analysis result;
the driving control module is used for generating corresponding flight altitude instructions, flight direction instructions and flight speed value instructions according to flight altitude analysis results, flight direction analysis results and flight speed value analysis results, and sending the flight altitude instructions, the flight direction instructions and the flight speed value instructions to the current unmanned aerial vehicle controller.
Further, the task information acquisition module comprises a flight task information acquisition unit and a flight task information analysis unit; the flight task information acquisition unit is used for reading a current flight task information data packet of the unmanned aerial vehicle through the communication interface, decompressing the flight task information data packet, acquiring flight task information data, and sending the flight task information data to the flight task information analysis unit, wherein the flight task information data comprises a flight altitude range-timetable, a flight track-timetable, a flight speed value-timetable; the flight task information analysis unit is used for acquiring the flight height range, the flight direction of each moment point and the flight speed value of each moment point preset in the current flight task of the unmanned aerial vehicle according to the flight height range-timetable, the flight track-timeframe and the flight speed value-timetable in the flight task information data, and sending the flight height range, the flight direction of each moment point and the flight speed value to the flight state analysis module.
Further, the flight direction data acquisition process of each moment point is as follows:
s11: acquiring a flight track-time diagram, wherein coordinate values of X-axis and Y-axis of each point in the flight track-time diagram represent positions of each point on a plane where the X-axis and the Y-axis are located, and the X-axis and the Y-axis are on the same horizontal plane;
s12: the starting point of the flight track is a 0 moment point, and the included angle between the tangent line of each moment point on the flight track and the positive direction of the X axis is obtained and is used as the flight direction of each moment point preset in the current flight task of the unmanned aerial vehicle;
the flight height range-timetable comprises the corresponding relation between the preset flight height range of the current unmanned aerial vehicle in the current flight task and each moment point;
the flight speed value-timetable comprises the corresponding relation between the preset flight speed value of the current unmanned aerial vehicle in the current flight task and each moment point.
Further, the image acquisition module comprises an image acquisition unit and an image preprocessing unit; the image acquisition unit is used for acquiring a current aerial image of the unmanned aerial vehicle, namely an aerial vehicle image, through the industrial camera according to a set period, and sending the aerial image to the image preprocessing unit; the image preprocessing unit is used for carrying out noise reduction and enhancement processing on the unmanned aerial vehicle image to obtain the unmanned aerial vehicle image after the noise reduction and enhancement processing, and the industrial camera is arranged on the ground below the current unmanned aerial vehicle flight-performing area.
Further, the flight state detection module comprises an unmanned aerial vehicle identification unit, a flight height acquisition unit and a flight speed acquisition unit; the unmanned aerial vehicle identification unit is used for carrying out target identification on the unmanned aerial vehicle in the unmanned aerial vehicle image after noise reduction and enhancement processing through the target detection model, acquiring an unmanned aerial vehicle target detection frame and a coordinate position thereof in an image coordinate system, and sending the unmanned aerial vehicle target detection frame and the coordinate position thereof in the image coordinate system to the flying height acquisition unit and the flying speed acquisition unit; the flying height obtaining unit is used for calculating the area Sw of the unmanned aerial vehicle target detection frame in the image coordinate system according to the unmanned aerial vehicle target detection frame and the coordinate position of the unmanned aerial vehicle target detection frame in the image coordinate system, and then searching in a preset area range-flying height database according to the area Sw of the unmanned aerial vehicle target detection frame in the image coordinate system to obtain the flying height of the current moment point of the unmanned aerial vehicle; the flying speed obtaining unit is used for obtaining coordinates of a central point of the unmanned aerial vehicle target detection frame in an image coordinate system according to the unmanned aerial vehicle target detection frame in the unmanned aerial vehicle image of the last moment point and the current moment point and the coordinate position of the unmanned aerial vehicle target detection frame in the image coordinate system, further obtaining the coordinates of the central point of the unmanned aerial vehicle target detection frame in the image coordinate system, wherein the central point of the unmanned aerial vehicle target detection frame of the last moment point is marked as W1, the central point of the unmanned aerial vehicle target detection frame of the current moment point is marked as W2, then calculating an x-axis coordinate difference value Cx and a y-axis coordinate difference value Cy between the current moment point and the central point of the unmanned aerial vehicle target detection frame of the last moment point according to the coordinates of the W1 and the W2 points, respectively calculating an x-axis component speed Vx and a y-axis component speed Vy of the current moment point of the unmanned aerial vehicle according to the Cx and Cy, and finally calculating the x-axis component speed Vy vector of the x-axis component speed to obtain the flying speed, namely the vector combination speed, the absolute value of the vector combination speed and the included angle value with the x-axis positive direction, namely obtaining the flying speed value and flying speed of the current unmanned aerial vehicle at the current moment point.
Further, the area range-flight altitude range database includes a correspondence between flight altitudes and an area range of a current unmanned aerial vehicle target detection frame in an image coordinate system.
Further, the specific processing procedure of the flying speed obtaining unit is as follows:
s21: according to the unmanned aerial vehicle target detection frame in the unmanned aerial vehicle image of the last moment point and the current moment point and the coordinate position of the unmanned aerial vehicle target detection frame in the image coordinate system, further acquiring the coordinate of the central point of the unmanned aerial vehicle target detection frame in the image coordinate system, wherein the central point of the unmanned aerial vehicle target detection frame at the last moment point is marked as W1, and the central point of the unmanned aerial vehicle target detection frame at the current moment point is marked as W2;
s22: according to the coordinates of the W1 and W2 points, calculating an x-axis coordinate difference Cx and a y-axis coordinate difference Cy between the current time point and the center point of the target detection frame of the unmanned aerial vehicle of the last time point, wherein the calculation formulas are respectively as follows:
Cx=x2-x1
Cy=y2-y1
wherein x2 is the x-axis coordinate value of the W2 point in the image coordinate system, x1 is the x-axis coordinate value of the W1 point in the image coordinate system, y2 is the y-axis coordinate value of the W2 point in the image coordinate system, and y1 is the y-axis coordinate value of the W1 point in the image coordinate system;
s23: according to Cx and Cy, the x-axis component speed Vx and the y-axis component speed Vy of the current time point of the current unmanned aerial vehicle are respectively calculated, and the calculation formulas are respectively as follows:
Vx=Cx/t
Vy=Cy/t
wherein t is the time difference between the current time point and the previous time point, the unit is s, and in the embodiment, t is 1s;
s24: and (3) vector calculation is carried out on the x-axis component speed Vx and the y-axis component speed Vy to obtain the flying speed, namely the vector combination speed, and the absolute value of the vector combination speed and the value of the included angle with the positive direction of the x-axis are obtained, namely the flying speed value and the flying direction of the current unmanned aerial vehicle at the current moment are obtained.
Further, the X-axis and the Y-axis of the flight trajectory-time map correspond to the X-axis and the Y-axis of the image coordinate system.
Further, in the flight state analysis module, the analysis result of the current unmanned aerial vehicle, namely the flight height analysis result, of the current unmanned aerial vehicle, which needs to descend, ascend or keep the current flight height after the current time point, is obtained through the comparison result of the maximum value and the minimum value of the flight height range of the current unmanned aerial vehicle at the current time point preset in the current flight task; acquiring an analysis result of whether the current unmanned aerial vehicle needs to adjust the flight direction after the current time point, namely a flight direction analysis result, according to an included angle difference value between the flight direction of the current unmanned aerial vehicle at the current time point and the flight direction of the current unmanned aerial vehicle at the current time point preset in the current flight task; and acquiring an analysis result of whether the current unmanned aerial vehicle needs to adjust the flight speed value after the current time point, namely an analysis result of the flight speed value according to a speed value difference between the flight speed value of the current unmanned aerial vehicle at the current time point and the flight speed value of the current unmanned aerial vehicle at the current time point preset in the current flight task.
Further, in the driving control module, when the flight height of the current unmanned aerial vehicle at the current moment falls between the maximum value and the minimum value of the flight height range of the current unmanned aerial vehicle at the current moment preset in the current flight task, generating a flight height instruction for keeping the current flight height; when the flight height of the current unmanned aerial vehicle at the current moment is greater than or equal to the maximum value of the flight height range of the current unmanned aerial vehicle at the current moment preset in the current flight task, generating a flight height instruction needing to be lowered; generating a flight height instruction to be lifted when the flight height of the current unmanned aerial vehicle at the current moment is smaller than or equal to the minimum value of the flight height range of the current unmanned aerial vehicle at the current moment preset in the current flight task;
in the driving control module, when the difference value of the included angle between the flight direction of the current unmanned aerial vehicle at the current moment point and the flight direction of the current unmanned aerial vehicle at the current moment point preset in the current flight task is not zero, generating a flight direction instruction needing to adjust the flight direction according to the numerical value and sign of the difference value of the included angle; when the difference value of the included angle between the flight direction of the current unmanned aerial vehicle at the current moment and the flight direction of the current unmanned aerial vehicle at the current moment preset in the current flight task is zero, generating a flight direction instruction which does not need to adjust the flight direction;
in the driving control module, when the speed value difference value between the current unmanned aerial vehicle flight speed value at the current moment and the preset current moment in the current flight task is not zero, generating a flight speed value instruction for adjusting the flight speed value according to the value and sign of the speed value difference value; when the speed value difference between the current unmanned aerial vehicle flight speed value at the current moment and the current unmanned aerial vehicle flight speed value at the current moment preset in the current flight task is zero, generating a flight speed value instruction without adjusting the flight speed value.
Compared with the prior art, the invention has the following advantages: according to the intelligent combined unmanned aerial vehicle control system based on data analysis, the flight state of the unmanned aerial vehicle can be conveniently detected and analyzed through the set flight state detection module, the flight state analysis module and the like, and the follow-up control of the unmanned aerial vehicle flight process according to the analysis result is facilitated; based on the flight height and the flight speed, the flight state of the unmanned aerial vehicle is detected and analyzed, so that the combined control of the flight process of the unmanned aerial vehicle can be conveniently realized, and continuous intervention is not required.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent combined unmanned aerial vehicle management and control system based on data analysis in an embodiment of the invention;
FIG. 2 is an exemplary plot of flight trajectory versus time (with 1s spacing time between points on the flight trajectory) in an embodiment of the invention;
fig. 3 is a schematic diagram of the relative positions of an industrial camera and a drone according to an embodiment of the present invention.
Fig. 4 is an exemplary diagram of W1 and W2 points in an image according to an embodiment of the present invention.
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
The embodiment provides a technical scheme: an intelligent combined unmanned aerial vehicle management and control system based on data analysis comprises a task information acquisition module, an image acquisition module, a flight state detection module, a flight state analysis module and a drive control module;
in this embodiment, the task information obtaining module is configured to obtain current flight task information of the unmanned aerial vehicle, and analyze the flight task information;
specifically, the task information acquisition module comprises a flight task information acquisition unit and a flight task information analysis unit; the flight task information acquisition unit is used for reading a current flight task information data packet of the unmanned aerial vehicle through the communication interface, decompressing the flight task information data packet, acquiring flight task information data, and sending the flight task information data to the flight task information analysis unit, wherein the flight task information data comprises a flight altitude range-timetable, a flight track-timetable, a flight speed value-timetable; the flight task information analysis unit is used for acquiring the flight altitude range, the flight direction and the flight speed value of each moment point (each second) preset in the current flight task of the unmanned aerial vehicle according to the flight altitude range-timetable, the flight track-timeframe and the flight speed value-timetable in the flight task information data, and sending the various data to the flight state analysis module.
More specifically, the process of acquiring the flight direction data at each time point (each second) is as follows:
s11: acquiring a flight track-moment diagram (shown in figure 2), wherein coordinate values of an X axis and a Y axis of each point in the flight track-moment diagram represent positions of each point on a plane where the X axis and the Y axis are positioned, and the X axis and the Y axis are positioned on the same horizontal plane;
s12: the starting point of the flight track is a 0 moment point, and the included angle between the tangent line of each moment point (each second) on the flight track and the positive direction of the X axis is obtained and is used as the preset flight direction of each moment point (each second) of the current unmanned aerial vehicle in the current flight task.
More specifically, the flight altitude range-schedule includes a correspondence between a preset flight altitude range of the current unmanned aerial vehicle in the current flight task and each moment, for example, at the 5 th s, the flight altitude range is between 50.0m and 50.6 m.
More specifically, the flight speed value-time table includes a correspondence between a preset flight speed value of the current unmanned aerial vehicle in the current flight task and each time point, for example, at the 5 th s, the flight speed value is 5m/s, where the flight speed value is an absolute value of a combined vector speed on a horizontal plane where an X axis and a Y axis are located, and the combined vector speed is a vector sum of an X-axis component speed (component speed in the X axis direction) and a Y-axis component speed (component speed in the X axis direction) of the current unmanned aerial vehicle, and the direction of the vector is the flight direction, that is, the flight speed direction.
In this embodiment, the image acquisition module is configured to acquire a currently-contained overhead image of the unmanned aerial vehicle, that is, an unmanned aerial vehicle image, according to a set period (1 s in this embodiment), and perform preprocessing on the unmanned aerial vehicle image;
specifically, the image acquisition module comprises an image acquisition unit and an image preprocessing unit; the image acquisition unit is used for acquiring a current aerial image of the unmanned aerial vehicle, namely an aerial vehicle image, through the industrial camera according to a set period, and sending the aerial image to the image preprocessing unit; the image preprocessing unit is used for carrying out noise reduction and enhancement processing on the unmanned aerial vehicle image, so that the unmanned aerial vehicle image after the noise reduction and enhancement processing is obtained, the quality of the unmanned aerial vehicle image is improved, and the unmanned aerial vehicle image recognition processing method is beneficial to follow-up unmanned aerial vehicle recognition work.
More specifically, the industrial camera is disposed on the ground below the current unmanned aerial vehicle performing airspace for performing nodding of the unmanned aerial vehicle (see fig. 3).
More specifically, in the image preprocessing unit, the noise reduction processing is performed by a gaussian filter noise reduction method, and the enhancement processing is performed by a histogram equalization method.
In this embodiment, the flight state detection module is configured to obtain, according to the noise-reduction and enhancement processed image of the unmanned aerial vehicle, a flight height, a flight direction, and a flight speed value of the current unmanned aerial vehicle at a current moment;
specifically, the flight state detection module comprises an unmanned aerial vehicle identification unit, a flight height acquisition unit and a flight speed acquisition unit; the unmanned aerial vehicle identification unit is used for carrying out target identification on the unmanned aerial vehicle in the unmanned aerial vehicle image after noise reduction and enhancement processing through the target detection model, acquiring an unmanned aerial vehicle target detection frame and a coordinate position thereof in an image coordinate system, and sending the unmanned aerial vehicle target detection frame and the coordinate position thereof in the image coordinate system to the flying height acquisition unit and the flying speed acquisition unit; the flying height obtaining unit is used for calculating the area Sw of the unmanned aerial vehicle target detection frame in the image coordinate system according to the unmanned aerial vehicle target detection frame and the coordinate position of the unmanned aerial vehicle target detection frame in the image coordinate system, and then searching in a preset area range-flying height database according to the area Sw of the unmanned aerial vehicle target detection frame in the image coordinate system to obtain the flying height of the current moment point of the unmanned aerial vehicle; the flying speed obtaining unit is used for obtaining coordinates of a central point of the unmanned aerial vehicle target detection frame in an image coordinate system according to the unmanned aerial vehicle target detection frame in the unmanned aerial vehicle image of the last moment point and the current moment point and the coordinate position of the unmanned aerial vehicle target detection frame in the image coordinate system, further obtaining the flying speed, namely the vector combination speed, the absolute value of the vector combination speed and the included angle value with the positive direction of the x axis, namely the flying speed value and the flying direction of the current unmanned aerial vehicle at the current moment point are obtained by calculating the x axis coordinate difference Cx and the y axis coordinate difference Cy between the current moment point and the central point of the unmanned aerial vehicle target detection frame according to the coordinates of the W1 and the W2 points, respectively calculating the x axis component speed Vx and the y axis component speed Vy of the current moment point of the unmanned aerial vehicle according to the Cx and Cy;
more specifically, the target detection model is obtained based on the Faster RCNN network training, a large number of manually marked pictures containing the current unmanned aerial vehicle are input into the network for training during training, after training is completed, the identification performance of the network model is evaluated through performance indexes, and when the identification performance of the network model reaches a set value, the network model, namely the target detection model, is stored.
More specifically, the area range-flight altitude range database contains the corresponding relation between the flight altitude and the area range of the current unmanned aerial vehicle target detection frame in the image coordinate system.
More specifically, the specific processing procedure of the flying speed obtaining unit is as follows:
s21: according to the unmanned aerial vehicle target detection frame in the unmanned aerial vehicle image of the last moment point and the current moment point and the coordinate position of the unmanned aerial vehicle target detection frame in the image coordinate system, further acquiring the coordinate of the central point of the unmanned aerial vehicle target detection frame in the image coordinate system, wherein the central point of the unmanned aerial vehicle target detection frame of the last moment point is marked as W1, and the central point of the unmanned aerial vehicle target detection frame of the current moment point is marked as W2 (see FIG. 4);
s22: according to the coordinates of the W1 and W2 points, calculating an x-axis coordinate difference Cx and a y-axis coordinate difference Cy between the current time point and the center point of the target detection frame of the unmanned aerial vehicle of the last time point, wherein the calculation formulas are respectively as follows:
Cx=x2-x1
Cy=y2-y1
wherein x2 is the x-axis coordinate value of the W2 point in the image coordinate system, x1 is the x-axis coordinate value of the W1 point in the image coordinate system, y2 is the y-axis coordinate value of the W2 point in the image coordinate system, and y1 is the y-axis coordinate value of the W1 point in the image coordinate system;
s23: according to Cx and Cy, the x-axis component speed Vx and the y-axis component speed Vy of the current time point of the current unmanned aerial vehicle are respectively calculated, and the calculation formulas are respectively as follows:
Vx=Cx/t
Vy=Cy/t
wherein t is the time difference between the current time point and the previous time point, the unit is s, and in the embodiment, t is 1s;
s24: and (3) vector calculation is carried out on the x-axis component speed Vx and the y-axis component speed Vy to obtain the flying speed, namely the vector combination speed, and the absolute value of the vector combination speed and the value of the included angle with the positive direction of the x-axis are obtained, namely the flying speed value and the flying direction of the current unmanned aerial vehicle at the current moment are obtained.
More specifically, the X-axis and the Y-axis of the flight trajectory-time map are parallel to each other, i.e., the X-axis is parallel to the X-axis, and the Y-axis is parallel to the Y-axis.
The flight state analysis module is used for comparing and analyzing the flight height, the flight direction and the flight speed value of the current unmanned aerial vehicle at the current moment point with the preset flight height range, the preset flight speed value and the preset flight direction of the current unmanned aerial vehicle at the current moment point in the current flight task to obtain a flight height analysis result, a flight direction analysis result and a flight speed value analysis result.
Specifically, in the flight state analysis module, the analysis result of the current unmanned aerial vehicle, namely the flight height analysis result, of which the current unmanned aerial vehicle needs to descend, ascend or keep at the current flight height after the current moment point is obtained through the comparison result of the maximum value and the minimum value of the flight height range of the current unmanned aerial vehicle at the current moment point preset in the current flight task; acquiring an analysis result of whether the current unmanned aerial vehicle needs to adjust the flight direction after the current time point, namely a flight direction analysis result, according to an included angle difference value between the flight direction of the current unmanned aerial vehicle at the current time point and the flight direction of the current unmanned aerial vehicle at the current time point preset in the current flight task; and acquiring an analysis result of whether the current unmanned aerial vehicle needs to adjust the flight speed value after the current time point, namely an analysis result of the flight speed value according to a speed value difference between the flight speed value of the current unmanned aerial vehicle at the current time point and the flight speed value of the current unmanned aerial vehicle at the current time point preset in the current flight task.
In this embodiment, the driving control module is configured to generate a corresponding flight altitude instruction, a flight direction instruction, and a flight speed value instruction according to a flight altitude analysis result, a flight direction analysis result, and a flight speed value analysis result, and send the flight altitude instruction, the flight direction instruction, and the flight speed value instruction to a current unmanned aerial vehicle controller, so as to cooperate with the unmanned aerial vehicle controller to effectively control the unmanned aerial vehicle flight process, without continuous manual intervention.
Specifically, in the driving control module, when the flight height of the current unmanned aerial vehicle at the current moment falls between the maximum value and the minimum value of the flight height range of the current unmanned aerial vehicle at the current moment preset in the current flight task, generating a flight height instruction for keeping the current flight height; when the flight height of the current unmanned aerial vehicle at the current moment is greater than or equal to the maximum value of the flight height range of the current unmanned aerial vehicle at the current moment preset in the current flight task, generating a flight height instruction needing to be lowered; when the flying height of the current unmanned aerial vehicle at the current moment is smaller than or equal to the minimum value of the flying height range of the current unmanned aerial vehicle at the current moment preset in the current flying task, generating a flying height instruction needing to be lifted.
Specifically, in the driving control module, when the difference value of the included angle between the flight direction of the current unmanned aerial vehicle at the current moment point and the flight direction of the current unmanned aerial vehicle at the current moment point preset in the current flight task is not zero, generating a flight direction instruction needing to adjust the flight direction according to the value and sign of the difference value of the included angle; when the difference value of the included angle between the flight direction of the current unmanned aerial vehicle at the current moment and the flight direction of the current unmanned aerial vehicle at the current moment preset in the current flight task is zero, generating a flight direction instruction without adjusting the flight direction.
Specifically, in the driving control module, when a speed value difference value between a current unmanned aerial vehicle flight speed value at a current moment point and a preset current moment point of the current unmanned aerial vehicle in a current flight task is not zero, generating a flight speed value instruction for adjusting the flight speed value according to the numerical value and sign of the speed value difference value; when the speed value difference between the current unmanned aerial vehicle flight speed value at the current moment and the current unmanned aerial vehicle flight speed value at the current moment preset in the current flight task is zero, generating a flight speed value instruction without adjusting the flight speed value.
It should be noted that only the current unmanned aerial vehicle exists in the execution space to perform the flight task.
In summary, in the intelligent combined unmanned aerial vehicle control system based on data analysis in the above embodiment, the flight state detection module, the flight state analysis module and the like are provided, so that the flight state of the unmanned aerial vehicle can be conveniently detected and analyzed, and the follow-up control of the unmanned aerial vehicle flight process according to the analysis result is facilitated; based on the flight altitude and the flight speed, the flight state of the unmanned aerial vehicle is detected and analyzed, the combined control of the flight process of the unmanned aerial vehicle can be conveniently realized, continuous intervention is not required by manpower, and meanwhile, the unmanned aerial vehicle is not required to be realized by means of a GPS positioning module.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. An intelligent combined unmanned aerial vehicle management and control system based on data analysis, which is characterized by comprising: the system comprises a task information acquisition module, an image acquisition module, a flight state detection module, a flight state analysis module and a drive control module;
the task information acquisition module is used for acquiring the current flight task information of the unmanned aerial vehicle and analyzing the flight task information;
the image acquisition module is used for acquiring a face-up image containing the current unmanned aerial vehicle according to a set period, namely an unmanned aerial vehicle image, and preprocessing the unmanned aerial vehicle image;
the flight state detection module is used for acquiring the flight height, the flight direction and the flight speed value of the current unmanned aerial vehicle at the current moment according to the unmanned aerial vehicle image subjected to noise reduction and enhancement processing;
the flight state analysis module is used for comparing and analyzing the flight height, the flight direction and the flight speed value of the current unmanned aerial vehicle at the current moment point with the flight height range, the flight speed value and the flight direction of the current moment point of the current unmanned aerial vehicle preset in the current flight task to obtain a flight height analysis result, a flight direction analysis result and a flight speed value analysis result;
the driving control module is used for generating corresponding flight altitude instructions, flight direction instructions and flight speed value instructions according to flight altitude analysis results, flight direction analysis results and flight speed value analysis results, and sending the flight altitude instructions, the flight direction instructions and the flight speed value instructions to the current unmanned aerial vehicle controller.
2. The intelligent combined unmanned aerial vehicle management and control system based on data analysis according to claim 1, wherein: the task information acquisition module comprises a flight task information acquisition unit and a flight task information analysis unit; the flight task information acquisition unit is used for reading a current flight task information data packet of the unmanned aerial vehicle through the communication interface, decompressing the flight task information data packet, acquiring flight task information data, and sending the flight task information data to the flight task information analysis unit, wherein the flight task information data comprises a flight altitude range-timetable, a flight track-timetable, a flight speed value-timetable; the flight task information analysis unit is used for acquiring the flight height range, the flight direction of each moment point and the flight speed value of each moment point preset in the current flight task of the unmanned aerial vehicle according to the flight height range-timetable, the flight track-timeframe and the flight speed value-timetable in the flight task information data, and sending the flight height range, the flight direction of each moment point and the flight speed value to the flight state analysis module.
3. The intelligent combined unmanned aerial vehicle management and control system based on data analysis according to claim 2, wherein: the flight direction data acquisition process of each moment point is as follows:
s11: acquiring a flight track-time diagram, wherein coordinate values of X-axis and Y-axis of each point in the flight track-time diagram represent positions of each point on a plane where the X-axis and the Y-axis are located, and the X-axis and the Y-axis are on the same horizontal plane;
s12: the starting point of the flight track is a 0 moment point, and the included angle between the tangent line of each moment point on the flight track and the positive direction of the X axis is obtained and is used as the flight direction of each moment point preset in the current flight task of the unmanned aerial vehicle.
4. The intelligent combined unmanned aerial vehicle management and control system based on data analysis according to claim 2, wherein: the flight height range-timetable comprises the corresponding relation between the preset flight height range of the current unmanned aerial vehicle in the current flight task and each moment point;
the flight speed value-timetable comprises the corresponding relation between the preset flight speed value of the current unmanned aerial vehicle in the current flight task and each moment point.
5. The intelligent combined unmanned aerial vehicle management and control system based on data analysis according to claim 2, wherein: the image acquisition module comprises an image acquisition unit and an image preprocessing unit; the image acquisition unit is used for acquiring a current aerial image of the unmanned aerial vehicle, namely an aerial vehicle image, through the industrial camera according to a set period, and sending the aerial image to the image preprocessing unit; the image preprocessing unit is used for carrying out noise reduction and enhancement processing on the unmanned aerial vehicle image to obtain the unmanned aerial vehicle image after the noise reduction and enhancement processing, and the industrial camera is arranged on the ground below the current unmanned aerial vehicle flight-performing area.
6. The intelligent combined unmanned aerial vehicle management and control system based on data analysis according to claim 5, wherein: the flight state detection module comprises an unmanned aerial vehicle identification unit, a flight height acquisition unit and a flight speed acquisition unit; the unmanned aerial vehicle identification unit is used for carrying out target identification on the unmanned aerial vehicle in the unmanned aerial vehicle image after noise reduction and enhancement processing through the target detection model, acquiring an unmanned aerial vehicle target detection frame and a coordinate position thereof in an image coordinate system, and sending the unmanned aerial vehicle target detection frame and the coordinate position thereof in the image coordinate system to the flying height acquisition unit and the flying speed acquisition unit; the flying height obtaining unit is used for calculating the area Sw of the unmanned aerial vehicle target detection frame in the image coordinate system according to the unmanned aerial vehicle target detection frame and the coordinate position of the unmanned aerial vehicle target detection frame in the image coordinate system, and then searching in a preset area range-flying height database according to the area Sw of the unmanned aerial vehicle target detection frame in the image coordinate system to obtain the flying height of the current moment point of the unmanned aerial vehicle; the flying speed obtaining unit is used for obtaining coordinates of a central point of the unmanned aerial vehicle target detection frame in an image coordinate system according to the unmanned aerial vehicle target detection frame in the unmanned aerial vehicle image of the last moment point and the current moment point and the coordinate position of the unmanned aerial vehicle target detection frame in the image coordinate system, further obtaining the coordinates of the central point of the unmanned aerial vehicle target detection frame in the image coordinate system, wherein the central point of the unmanned aerial vehicle target detection frame of the last moment point is marked as W1, the central point of the unmanned aerial vehicle target detection frame of the current moment point is marked as W2, then calculating an x-axis coordinate difference value Cx and a y-axis coordinate difference value Cy between the current moment point and the central point of the unmanned aerial vehicle target detection frame of the last moment point according to the coordinates of the W1 and the W2 points, respectively calculating an x-axis component speed Vx and a y-axis component speed Vy of the current moment point of the unmanned aerial vehicle according to the Cx and Cy, and finally calculating the x-axis component speed Vy vector of the x-axis component speed to obtain the flying speed, namely the vector combination speed, the absolute value of the vector combination speed and the included angle value with the x-axis positive direction, namely obtaining the flying speed value and flying speed of the current unmanned aerial vehicle at the current moment point.
7. The intelligent combined unmanned aerial vehicle management and control system based on data analysis of claim 6, wherein: the area range-flight altitude range database comprises a corresponding relation between the flight altitude and the area range of the current unmanned aerial vehicle target detection frame in an image coordinate system.
8. The intelligent combined unmanned aerial vehicle management and control system based on data analysis of claim 7, wherein: the specific processing procedure of the flying speed acquisition unit is as follows:
s21: according to the unmanned aerial vehicle target detection frame in the unmanned aerial vehicle image of the last moment point and the current moment point and the coordinate position of the unmanned aerial vehicle target detection frame in the image coordinate system, further acquiring the coordinate of the central point of the unmanned aerial vehicle target detection frame in the image coordinate system, wherein the central point of the unmanned aerial vehicle target detection frame at the last moment point is marked as W1, and the central point of the unmanned aerial vehicle target detection frame at the current moment point is marked as W2;
s22: according to the coordinates of the W1 and W2 points, calculating an x-axis coordinate difference Cx and a y-axis coordinate difference Cy between the current time point and the center point of the target detection frame of the unmanned aerial vehicle of the last time point, wherein the calculation formulas are respectively as follows:
Cx=x2-x1
Cy=y2-y1
wherein x2 is the x-axis coordinate value of the W2 point in the image coordinate system, x1 is the x-axis coordinate value of the W1 point in the image coordinate system, y2 is the y-axis coordinate value of the W2 point in the image coordinate system, and y1 is the y-axis coordinate value of the W1 point in the image coordinate system;
s23: according to Cx and Cy, the x-axis component speed Vx and the y-axis component speed Vy of the current time point of the current unmanned aerial vehicle are respectively calculated, and the calculation formulas are respectively as follows:
Vx=Cx/t
Vy=Cy/t
wherein t is the time difference between the current time point and the previous time point, the unit is s, and in the embodiment, t is 1s;
s24: and (3) vector calculation is carried out on the x-axis component speed Vx and the y-axis component speed Vy to obtain the flying speed, namely the vector combination speed, and the absolute value of the vector combination speed and the value of the included angle with the positive direction of the x-axis are obtained, namely the flying speed value and the flying direction of the current unmanned aerial vehicle at the current moment are obtained.
9. The intelligent combined unmanned aerial vehicle management and control system based on data analysis of claim 8, wherein: the X-axis and the Y-axis of the flight trajectory-time graph are correspondingly parallel to the X-axis and the Y-axis of the image coordinate system.
10. The intelligent combined unmanned aerial vehicle management and control system based on data analysis according to claim 9, wherein: in the flight state analysis module, the analysis result of the current unmanned aerial vehicle, namely the flight height analysis result, of the current unmanned aerial vehicle, which needs to descend, ascend or keep the current flight height after the current time point, is obtained through the comparison result of the flight height of the current unmanned aerial vehicle at the current time point and the maximum value and the minimum value of the flight height range of the current unmanned aerial vehicle at the current time point preset in the current flight task; acquiring an analysis result of whether the current unmanned aerial vehicle needs to adjust the flight direction after the current time point, namely a flight direction analysis result, according to an included angle difference value between the flight direction of the current unmanned aerial vehicle at the current time point and the flight direction of the current unmanned aerial vehicle at the current time point preset in the current flight task; and acquiring an analysis result of whether the current unmanned aerial vehicle needs to adjust the flight speed value after the current time point, namely an analysis result of the flight speed value according to a speed value difference between the flight speed value of the current unmanned aerial vehicle at the current time point and the flight speed value of the current unmanned aerial vehicle at the current time point preset in the current flight task.
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