WO2017219588A1 - Procédé et système de détection d'environnement basés sur un véhicule aérien sans pilote - Google Patents

Procédé et système de détection d'environnement basés sur un véhicule aérien sans pilote Download PDF

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Publication number
WO2017219588A1
WO2017219588A1 PCT/CN2016/105541 CN2016105541W WO2017219588A1 WO 2017219588 A1 WO2017219588 A1 WO 2017219588A1 CN 2016105541 W CN2016105541 W CN 2016105541W WO 2017219588 A1 WO2017219588 A1 WO 2017219588A1
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WIPO (PCT)
Prior art keywords
server
drone
detected
information
environmental
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PCT/CN2016/105541
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English (en)
Chinese (zh)
Inventor
刘均
刘新
宋朝忠
欧阳张鹏
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深圳市元征科技股份有限公司
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Publication of WO2017219588A1 publication Critical patent/WO2017219588A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

Definitions

  • the invention relates to the technical field of drones, and in particular to an environment detecting method and system based on drones.
  • the main object of the present invention is to provide an environment detection method and system based on a drone, which aims to achieve efficient environmental detection to assist decision making purposes.
  • an unmanned aerial vehicle based environment detecting method includes the following steps:
  • the drone When the drone receives the environmental detection instruction, the drone flies to the position to be detected;
  • the UAV flies according to a preset route in the area to be detected, acquires environment information of the area to be detected, and sends the information to the server;
  • the server acquires the environmental information
  • the server performs pre-processing on the environmental information to extract environmental features
  • the server analyzes the environmental information according to the environmental characteristics and a preset algorithm.
  • the method further includes:
  • the drone When the drone is flying according to the preset route in the area to be detected, if the flight path change instruction is received, the drone performs flight according to the flight path change instruction.
  • the method further includes:
  • the server sends the analysis result to the monitoring terminal, so that the monitoring terminal displays the analysis result.
  • the invention also provides an unmanned aerial vehicle based environment detecting method comprising the following steps:
  • the drone When the drone receives the environmental detection instruction, the drone flies to the position to be detected;
  • the server analyzes the environmental information according to a preset algorithm.
  • the drone acquires environmental information of the location to be detected, including:
  • the drone performs flight according to a preset route in the area to be detected, and acquires environmental information of the area to be detected.
  • the server analyzes the environment information according to a preset algorithm, including:
  • the server acquires the environmental information
  • the server performs pre-processing on the environmental information to extract environmental features
  • the server analyzes the environmental information according to the environmental characteristics and a preset algorithm.
  • the method further includes:
  • the drone When the drone is flying according to the preset route in the area to be detected, if the flight path change instruction is received, the drone performs flight according to the flight path change instruction.
  • the method further includes:
  • the server sends the analysis result to the monitoring terminal, so that the monitoring terminal displays the analysis result.
  • the present invention also provides an environment detecting system based on a drone, the system comprising: a drone and a server;
  • the drone includes:
  • a first flight module configured to fly to the location to be detected when the drone receives the environmental detection instruction
  • An acquiring module configured to acquire environment information of the location to be detected, and send the information to a server;
  • the server includes:
  • An analysis module is configured to analyze the environmental information according to a preset algorithm.
  • the obtaining module comprises:
  • a determining unit configured to determine a to-be-detected area of the location to be detected
  • the first acquiring unit is configured to perform flight according to the preset route in the area to be detected, and obtain environment information of the area to be detected.
  • the analysis module comprises:
  • a second acquiring unit configured to acquire the environment information
  • An information processing unit configured to preprocess the environmental information, and extract an environmental feature
  • an analyzing unit configured to analyze the environmental information according to the environmental feature and a preset algorithm.
  • the drone further comprises:
  • the second flight module when the drone is flying according to the preset route in the to-be-detected area, if the flight path change instruction is received, the flight is performed according to the flight path change instruction.
  • the server further includes:
  • the sending module sends the analysis result to the monitoring terminal, so that the monitoring terminal displays the analysis result.
  • the drone when the drone receives the environment detection instruction, the drone flies to the location to be detected; the drone acquires the environment information of the to-be-detected location, and sends the information to the server; A preset algorithm analyzes the environmental information. Due to the fast flying speed and wide flight range, the UAV flies to the location to be inspected, performs environmental detection, and sends the detected environmental information to the server, so that the server can obtain the environmental information detected by the drone, and realizes the implementation. Efficient environmental detection to aid decision making.
  • FIG. 1 is a schematic flow chart of a first embodiment of an environment detecting method based on a drone according to the present invention
  • FIG. 2 is a schematic flow chart of a second embodiment of an environment detecting method based on a drone according to the present invention
  • FIG. 3 is a schematic flow chart of a third embodiment of an environment detecting method based on a drone according to the present invention.
  • FIG. 4 is a schematic diagram of functional modules of a first embodiment of an environmental detection system based on a drone according to the present invention
  • FIG. 5 is a schematic diagram of functional modules of a second embodiment of an environment detecting system based on a drone according to the present invention.
  • FIG. 6 is a schematic diagram of functional modules of a third embodiment of an environmental detection system based on a drone according to the present invention.
  • FIG. 7 is a schematic diagram of functional modules of a fourth embodiment of an environment detecting system based on a drone according to the present invention.
  • FIG. 8 is a schematic diagram of functional modules of a fifth embodiment of an environment detecting system based on a drone according to the present invention.
  • the invention provides an environment detecting method based on a drone.
  • the method includes:
  • Step S10 when the drone receives the environmental detection instruction, the drone flies to the position to be detected;
  • Step S20 the UAV acquires environmental information of the to-be-detected location, and sends the information to the server;
  • Step S30 the server analyzes the environmental information according to a preset algorithm.
  • the UAV-based environment detection method provided by the invention is used for environmental detection by a drone to assist decision making.
  • the drone can be a fixed wing drone or a multi-rotor drone.
  • the unmanned aerial vehicle is connected to the preset network, and the preset network includes at least one unmanned aerial vehicle and the server, and may further include other networked devices such as a manipulation device for controlling the drone.
  • the drone can communicate directly with the server, or communicate with the server indirectly through the control device.
  • the server can also receive information sent by the drone or send instructions to the drone.
  • the server can receive information sent by multiple drones, so the information can be shared between the drones through the drone.
  • the environment detection command received by the drone is a preset command, and when the drone receives the command, it flies to the position to be detected.
  • the environmental detection command can be sent to the drone through a control device for manipulating the drone, in which case the drone communicates with the control device.
  • the environment detection command can also be sent to the drone through the server, or the environment detection command can be sent by triggering the preset button on the drone.
  • the location to be detected may be acquired by an environment detection instruction, and the location information to be detected included in the environment detection instruction, such as latitude and longitude information, is acquired, so that the drone flies to the location to be detected.
  • the environment information of the to-be-detected location is obtained, and the server is sent, where the server may be a server host or a server cluster composed of multiple servers, and does not do here. limited.
  • the drone can directly send environmental information to the server. In this case, the drone installs the network card, so that the drone can connect to the server.
  • the drone can also send the acquired environmental information to the control device, and then the control device forwards to the server.
  • the drone can be connected to the control device only through a networking manner such as wifi or Bluetooth. The connection is then sent to the server by a control device connected to the Internet. It is also possible to select which method to send the environmental information to the server according to the network signal when the drone transmits the environmental information.
  • the server When the server receives the environmental information, it can analyze it according to the environmental information to assist decision making.
  • the environmental information may include various environment-related information such as image information of the location to be detected, climate information, and different information may be analyzed by using different analysis methods. For example, when the collected image information is a traffic condition, the congestion condition of the road can be identified by the method of image recognition.
  • the drone when the drone receives the environment detection instruction, the drone flies to the location to be detected; the drone acquires the environment information of the to-be-detected location, and sends the information to the server; A preset algorithm analyzes the environmental information. Due to the fast flying speed and wide flight range, the UAV flies to the location to be inspected, performs environmental detection, and sends the detected environmental information to the server, so that the server can obtain the environmental information detected by the drone, and realizes the implementation. Efficient environmental detection to aid decision making.
  • a second embodiment of the environment detection method based on the UAV of the present invention is proposed.
  • the UAV acquires the location to be detected.
  • Environmental information includes:
  • Step S210 the UAV determines an area to be detected of a location to be detected
  • step S220 the drone performs flight according to the preset route in the area to be detected, and acquires environment information of the area to be detected.
  • the area to be detected is determined.
  • the method for determining the area to be detected may be determined according to the preset area information in the location to be detected, or may be The human machine transmits the image information of the location to be detected to the server or the manipulation device, and then determines the area to be detected according to the received instruction of the server or the manipulation device.
  • the flight is performed according to the preset route, and the flight may be performed by means of horizontal or vertical, or flight along a certain target, and the specific flight route may be set as needed. set.
  • the environment information of the to-be-detected area is obtained, and the collection environment information may be implemented, or may be collected at a preset time interval. After being collected, it can be sent to the server in real time, or sent to the server at regular intervals.
  • the specific method for obtaining the environmental information of the area to be detected may be to collect image information through a camera preset on the drone, or to collect environmental information through an environment collecting device such as a temperature and humidity sensor, an infrared thermal image capturing device, and specific environment. Information can be set as needed.
  • the infrared image acquisition device preset by the drone can detect the information in the forest to form a thermal image; when detecting the road, the real-time image information can be collected through the camera; Pre-set life detectors are used to detect vital signs of the human body.
  • the unmanned aerial vehicle determines the area to be detected at the position to be detected, and then travels according to the preset route in the to-be-detected area, and acquires the environmental information of the detection area, so that the drone comprehensively acquires the area to be detected.
  • Environmental information improves the efficiency of environmental testing.
  • step S30 includes:
  • Step S310 the server acquires the environment information.
  • Step S320 the server performs pre-processing on the environment information to extract an environment feature.
  • Step S330 the server analyzes the environment information according to the environment feature and a preset algorithm.
  • the server acquires the environment information, and then preprocesses the environment information to extract the environment feature.
  • the specific pre-processing and extraction of environmental characteristics are related to the acquired environmental information. For example, when the detected environmental information is information in the form of an image, the image information is first extracted, and then the feature is extracted. When the detected environmental information is information in a sound format, the sound information is first subjected to noise reduction processing and then feature extraction. After the environmental features are extracted, the environmental information is analyzed according to a preset algorithm.
  • the server obtains the traffic image information in real time
  • the image information may be pre-processed, and then all the vehicle location information in the image may be extracted. If the image information acquired by the drone is multiple images, Multiple images are stitched together to form an overall regional traffic map.
  • the temperature information in the forest is acquired by the thermal imaging device preset by the drone, and after the server receives the temperature information, the fire is caused by the higher temperature in the forest.
  • the greater the risk therefore, the location information above the certain value can be analyzed, and the location information can be marked to form a thermographic image, suggesting a potential risk.
  • the environmental information acquired by the drone is not limited to the above embodiment, and the specific information that can be obtained may be determined according to the environment detecting device loaded on the drone, and the specific analysis method may be based on the obtained specific environmental information. Different.
  • the environment information is obtained by the server, and then the environment information is pre-processed and the environment features are extracted, and then the environment features and the preset algorithms are analyzed, so that the environment information acquired by the drone can be analyzed to assist decision-making. Provide help to improve the efficiency of environmental testing.
  • the UAV-based environment detection method further includes :
  • the drone When the drone is flying according to the preset route in the area to be detected, if the flight path change instruction is received, the drone performs flight according to the flight path change instruction.
  • the drone when the drone is flying according to the preset route in the area to be detected, if the flight path change instruction is received, the drone performs the flight according to the flight route change instruction.
  • the above flight route change instruction refers to an instruction to change the flight route. Specifically, when the drone is flying according to the preset route in the to-be-detected area, the environmental information is sent to the server. When the user receives the environmental information, if the flight route of the drone is to be adjusted, the The man-machine sends a route change command, such as controlling the flying height of the drone. When the drone receives the flight route change command, it flights according to the flight route change command.
  • the drone when the drone receives the return instruction in the area to be detected, it can also return according to the return instruction. At the same time, the drone can detect the battery power of the drone in real time. If the battery power is lower than the preset value, the alarm information can be sent to the drone control device, or the position of the charging pile can be automatically found according to the preset GPS information. Charging.
  • the drone when the drone is flying according to the preset route in the area to be detected, if the flight route change instruction is received, the flight is performed according to the flight route change instruction, so that the drone can adjust the flight route as needed. More comprehensive access to the environmental information of the area to be detected provides more comprehensive information for the server.
  • the method further includes:
  • the server sends the analysis result to the monitoring terminal, so that the monitoring terminal displays the analysis result.
  • the server sends the analysis result to the monitoring terminal, so that the monitoring terminal displays the analysis result.
  • the monitoring terminal and the above-mentioned control terminal may be the same device, or may be two separate devices.
  • the monitoring terminal configuration display screen may display the analysis result, and the monitoring terminal may also display the flight status of the drone and the acquired image information. And other information.
  • the display can be performed according to a preset format, for example, highlighting a place where the vehicle is concentrated, and highlighting a high temperature area in the forest.
  • the analysis result is sent to the monitoring terminal by the server, so that the monitoring terminal displays the analysis result, so that the user can perform the auxiliary decision according to the analysis result.
  • the present invention also provides an environment detecting system based on a drone.
  • FIG. 4 it is a schematic diagram of a functional module of a first embodiment of an environment detecting system based on a drone according to the present invention.
  • an environment based on a drone The detection system includes: a drone 10 and a server 20;
  • the drone 10 includes:
  • the first flight module 110 is configured to fly to the location to be detected when the drone receives the environmental detection instruction;
  • the obtaining module 120 is configured to acquire environment information of the to-be-detected location, and send the information to the server.
  • the server 20 includes:
  • the analyzing module 210 is configured to analyze the environmental information according to a preset algorithm.
  • the UAV-based environment detection system provided by the invention is used for environmental detection by a drone to assist decision making.
  • the drone can be a fixed wing drone or a multi-rotor drone.
  • the UAV 10 is connected to a preset network.
  • the preset network includes at least one UAV 10 and the server 20, and may further include other networked devices such as a control device for controlling the UAV.
  • the drone can communicate directly with the server, or communicate with the server indirectly through the control device.
  • the server can also receive information sent by the drone or send instructions to the drone.
  • the server can receive information sent by multiple drones, so the information can be shared between the drones through the drone.
  • the environment detection command received by the drone is a preset command, and the first flight module 110 is configured to fly to the position to be detected when the drone receives the command.
  • the environmental detection command can be sent to the drone through a control device for manipulating the drone, in which case the drone communicates with the control device.
  • the environment detection command can also be sent to the drone through the server, or the environment detection command can be sent by triggering the preset button on the drone.
  • the location to be detected may be acquired by an environment detection instruction, and the location information to be detected included in the environment detection instruction, such as latitude and longitude information, is acquired, so that the drone flies to the location to be detected.
  • the acquiring module 120 acquires the environment information of the to-be-detected location, and sends a server, where the server may be a server host or a server cluster composed of multiple servers. There is no limit here.
  • the drone can directly send environmental information to the server. In this case, the drone installs the network card, so that the drone can connect to the server.
  • the drone can also send the acquired environmental information to the control device, and then the control device forwards to the server.
  • the drone can be connected to the control device only through a networking manner such as wifi or Bluetooth. The connection is then sent to the server by a control device connected to the Internet. It is also possible to select which method to send the environmental information to the server according to the network signal when the drone transmits the environmental information.
  • the analysis module 210 can perform analysis according to the environmental information to assist decision making.
  • the environmental information may include various environment-related information such as image information of the location to be detected, climate information, and different information may be analyzed by using different analysis methods. For example, when the collected image information is a traffic condition, the congestion condition of the road can be identified by the method of image recognition.
  • the drone when the drone receives the environment detection instruction, the drone flies to the location to be detected; the drone acquires the environment information of the to-be-detected location, and sends the information to the server; A preset algorithm analyzes the environmental information. Since the drone flies to the location to be inspected, the environment is detected, and the detected environmental information is sent to the server, so that the server can acquire the information detected by the drone, thereby realizing efficient environmental detection to assist decision making.
  • the acquisition module 120 includes:
  • a determining unit 121 configured to determine a to-be-detected area of the location to be detected
  • the first obtaining unit 122 is configured to perform flight according to a preset route in the area to be detected, and obtain environment information of the area to be detected.
  • the determining unit 121 determines the to-be-detected area of the to-be-detected location.
  • the method for determining the to-be-detected area may be determined according to the preset regional information in the to-be-detected location.
  • the image information of the location to be detected may be transmitted to the server or the manipulation device by the drone, and the area to be detected is determined according to the received instruction of the server or the manipulation device.
  • the flight is performed according to the preset route, and the flight may be performed by means of horizontal or vertical, or flight along a certain target, and the specific flight route may be set as needed. set.
  • the first acquiring unit 122 acquires the environment information of the to-be-detected area, and may specifically collect the environment information, or may collect the preset time interval. After being collected, it can be sent to the server in real time, or sent to the server at regular intervals.
  • the specific method for obtaining the environmental information of the area to be detected may be to collect image information through a camera preset on the drone, or to collect environmental information through an environment collecting device such as a temperature and humidity sensor, an infrared thermal image capturing device, and specific environment. Information can be set as needed.
  • the infrared image acquisition device preset by the drone can detect the information in the forest to form a thermal image; when detecting the road, the real-time image information can be collected through the camera; Pre-set life detectors are used to detect vital signs of the human body.
  • the unmanned aerial vehicle determines the area to be detected at the position to be detected, and then travels according to the preset route in the to-be-detected area, and acquires the environmental information of the detection area, so that the drone comprehensively acquires the area to be detected.
  • Environmental information improves the efficiency of environmental testing.
  • the analysis module 210 includes:
  • the second obtaining unit 211 is configured to acquire the environment information.
  • the information processing unit 212 is configured to preprocess the environment information to extract an environment feature.
  • the analyzing unit 213 is configured to analyze the environment information according to the environment feature and a preset algorithm.
  • the second obtaining unit 211 acquires the environment information
  • the information processing unit 212 preprocesses the environment information to extract the environment feature.
  • the specific pre-processing and extraction of environmental characteristics are related to the acquired environmental information. For example, when the detected environmental information is information in the form of an image, the image information is first extracted, and then the feature is extracted. When the detected environmental information is information in a sound format, the sound information is first subjected to noise reduction processing and then feature extraction. After extracting the environmental features, the analysis unit 213 analyzes the environmental information according to the preset algorithm.
  • the server obtains the traffic image information in real time
  • the image information may be pre-processed, and then all the vehicle location information in the image may be extracted. If the image information acquired by the drone is multiple images, Multiple images are stitched together to form an overall regional traffic map.
  • the temperature information in the forest is acquired by the thermal imaging device preset by the drone, and after the server receives the temperature information, the fire is caused by the higher temperature in the forest.
  • the greater the risk therefore, the location information above the certain value can be analyzed, and the location information can be marked to form a thermographic image, suggesting a potential risk.
  • the environmental information acquired by the drone is not limited to the above embodiment, and the specific information that can be obtained may be determined according to the environment detecting device loaded on the drone, and the specific analysis method may be based on the obtained specific environmental information. Different.
  • the environment information is obtained by the server, and then the environment information is pre-processed and the environment features are extracted, and then the environment features and the preset algorithms are analyzed, so that the environment information acquired by the drone can be analyzed to assist decision-making. Provide help to improve the efficiency of environmental testing.
  • the UAV 10 of the present invention further includes :
  • the second flight module 130 is configured to perform the flight according to the flight route change instruction when the flight path change instruction is received when the drone is flying according to the preset route in the to-be-detected area.
  • the drone when the drone is flying according to the preset route in the area to be detected, if the flight path change instruction is received, the drone performs the flight according to the flight route change instruction.
  • the above flight route change instruction refers to an instruction to change the flight route. Specifically, when the drone is flying according to the preset route in the to-be-detected area, the environmental information is sent to the server. When the user receives the environmental information, if the flight route of the drone is to be adjusted, the The man-machine sends a route change command, such as controlling the flying height of the drone. When the drone receives the flight route change command, it flights according to the flight route change command.
  • the drone when the drone receives the return instruction in the area to be detected, it can also return according to the return instruction. At the same time, the drone can detect the battery power of the drone in real time. If the battery power is lower than the preset value, the alarm information can be sent to the drone control device, or the position of the charging pile can be automatically found according to the preset GPS information. Charging.
  • the drone when the drone is flying according to the preset route in the area to be detected, if the flight route change instruction is received, the flight is performed according to the flight route change instruction, so that the drone can adjust the flight route as needed. More comprehensive access to the environmental information of the area to be detected provides more comprehensive information for the server.
  • the server 20 proposed by the present invention further includes:
  • the sending module 220 sends the analysis result to the monitoring terminal, so that the monitoring terminal displays the analysis result.
  • the sending module 220 sends the analysis result to the monitoring terminal, so that the monitoring terminal displays the analysis result.
  • the monitoring terminal and the above-mentioned control terminal may be the same device, or may be two separate devices.
  • the monitoring terminal configuration display screen may display the analysis result, and the monitoring terminal may also display the flight status of the drone and the acquired image information. And other information.
  • the display can be performed according to a preset format, for example, highlighting a place where the vehicle is concentrated, and highlighting a high temperature area in the forest.
  • the analysis result is sent to the monitoring terminal by the server, so that the monitoring terminal displays the analysis result, so that the user can perform the auxiliary decision according to the analysis result.

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Abstract

L'invention concerne un procédé et un système de détection d'environnement basés sur un véhicule aérien sans pilote (10). Un véhicule aérien sans pilote (10) vole vers une position devant être détectée lorsque le véhicule aérien sans pilote (10) reçoit une instruction de détection d'environnement ; le véhicule aérien sans pilote (10) obtient des informations d'environnement de la position devant être détectée et les envoie à un serveur (20) ; le serveur (20) analyse les informations d'environnement conformément à un algorithme prédéterminé. Au moyen de la présente invention, l'objectif d'exécution d'une détection d'environnement très efficace, pour aider à la prise de décision, est atteint.
PCT/CN2016/105541 2016-06-24 2016-11-12 Procédé et système de détection d'environnement basés sur un véhicule aérien sans pilote WO2017219588A1 (fr)

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CN201610472595.XA CN106092197A (zh) 2016-06-24 2016-06-24 基于无人机的环境探测方法和系统

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