CN107291100B - Monitoring method based on unmanned aerial vehicle - Google Patents

Abstract

The invention provides a monitoring method based on an unmanned aerial vehicle, which comprises the steps of obtaining regional position information of a region to be monitored, taking the position of an unmanned aerial vehicle base station as a middle point, calculating a first navigation path between a starting point and the middle point by the unmanned aerial vehicle according to electronic map data, calculating a second navigation path between the middle point and the central position of the region to be monitored by a target unmanned aerial vehicle according to the electronic map data, moving the target unmanned aerial vehicle to the monitoring region according to the first navigation path and the second navigation path, obtaining a video image in the monitoring region, sending the video image to a controller, analyzing the received video image by the controller, and judging whether to send out a warning or not. In the invention, the base station of the unmanned aerial vehicle is used as a middle point, and the whole navigation path is divided into a plurality of navigation paths for calculation, so that the calculation amount in each calculation is reduced, the unmanned aerial vehicle can reach a monitoring area more quickly when monitoring operation is carried out by using the unmanned aerial vehicle, and the intelligence of the unmanned aerial vehicle is improved.

Description

A surveillance method based on UAV

technical field

The invention relates to the field of unmanned aerial vehicle monitoring, in particular to a monitoring method based on an unmanned aerial vehicle.

Background technique

Despite the continuous development of drone technology, the application of drones in all walks of life is becoming more and more frequent. For example, the use of drones for spraying of farmland, high-altitude photography, drone operations in sensitive areas, or drone tracking, etc.

When using UAVs for various operations, UAVs fly more intelligently and reduce the burden on operators, which is one of the research directions of researchers in the existing technology. Some methods of UAV navigation are provided in the prior art. The main idea is to obtain various terrain information according to the existing electronic map data, and then determine a complete navigation path according to the starting point and the end point, and set the unmanned aerial vehicle. The aircraft flies according to the navigation path.

However, in the solution of the prior art, if the distance between the start point and the end point is long, it takes a long time to calculate the navigation path. When there is a temporary path adjustment, the entire navigation path needs to be recalculated, which will occupy A lot of computing resources, so the drone can't work well when it is working.

SUMMARY OF THE INVENTION

The invention provides a monitoring method based on an unmanned aerial vehicle, which can reduce the calculation amount of the path, quickly obtain the navigation path, and thus smoothly obtain the monitoring video images in the area to be monitored.

A UAV-based monitoring method, wherein the method comprises:

The preset target UAV obtains the location information of the starting point and the regional location information of the area to be monitored;

The target UAV determines the position of the target UAV base station that is currently closest to the UAV, and uses the position of the target UAV base station as an intermediate point;

The target UAV calculates a first navigation path between the starting point and the intermediate point according to the electronic map data, and moves to the target UAV base station according to the first navigation path;

The target UAV calculates a second navigation path between the intermediate point and the central position of the to-be-monitored area according to the electronic map data, and moves to above the central position of the monitoring area according to the second navigation path;

The target drone acquires the video image in the monitoring area according to the preset monitoring route, and sends the video image to the controller of the remote control center through wireless communication;

The controller analyzes the received video images, determines whether the alarm conditions are met, and if so, issues an alarm.

Preferably, moving the target UAV to the target UAV base station according to the first navigation path includes:

The target UAV sends the first navigation path to the target UAV base station;

The target UAV base station adjusts the first navigation path according to the received navigation paths sent by each UAV to obtain a third navigation path;

The target UAV base station sends the third navigation path to the target UAV;

The target UAV moves to the target UAV base station according to the third navigation path.

Preferably, the target UAV base station adjusts the first navigation path according to the received navigation paths sent by each UAV to obtain the third navigation path including:

The target UAV base station compares each navigation path to determine an overlapping road section, and the overlapping road section is a common part of at least two navigation paths;

The target UAV base station determines whether the overlapping road section exists in the first navigation path, and if so, the target UAV base station re-runs the overlapping road section in the first navigation path. Plan to obtain non-overlapping road sections;

The target UAV base station generates the third navigation path according to the non-overlapping road sections and the first navigation path.

Preferably, the target UAV base station adjusts the first navigation path according to the received navigation paths sent by each UAV to obtain the third navigation path including:

The target UAV base station receives flight plan information sent by each UAV, and the flight plan information includes take-off time, flight speed and flight altitude;

The target UAV base station determines whether the target UAV and other UAVs have an encounter point on the first navigation path according to the flight plan information;

If there is, the target UAV base station takes the encounter point as the center point and the preset distance as the radius, and sets the avoidance road section;

The target UAV base station generates the third navigation path according to the avoidance road section and the first navigation path.

Preferably, the method further includes:

During the movement of the target drone, the target drone determines whether there are other interfering drones within its preset range;

If there is, the target drone establishes a wireless connection with the interfering drone;

The target drone receives movement information of the interference drone through the wireless connection, and the movement information includes the flight speed, flight direction and flight altitude of the interference drone;

The target UAV determines whether it has a collision risk with the interfering UAV according to the motion information of the interfering UAV;

If there is a collision risk, the target UAV adjusts its own motion information.

Preferably, determining whether the target UAV has a collision risk with the interfering UAV according to the motion information of the interfering UAV includes:

The target drone determines whether the flight direction of the interference drone is the same as its own flight direction, and if it is different, it is determined that there is no collision risk between itself and the interference drone;

If the flight direction of the interfering drone is the same as its own, the target drone determines whether the flight height of the interfering drone is the same as its own. There is no risk of collision with the jamming drone.

Preferably, the method further includes:

If the flight altitude of the interference drone is the same as its own flight altitude, the target drone decomposes the flight speed of the interference drone to obtain the first speed, the second speed and the third speed. The first speed is the speed in the direction of the first dimension, the second speed is the speed in the direction of the second dimension, the third speed is the speed in the direction of the third dimension, and the first dimension is the speed in the direction of the target. The direction of the man-machine, the second dimension direction is the direction away from the target UAV, and the third dimension direction is the direction parallel to the flight direction of the target UAV;

The target drone determines whether the pointing speed is greater than 0. If so, it determines that there is a risk of collision between itself and the interfering drone. If not, it determines that it does not exist with the interfering drone. Collision risk.

Preferably, the movement information of the target drone to adjust itself includes:

The target drone adjusts its own flight speed in the first dimension direction to be greater than or equal to the first speed;

The movement information of the target drone to adjust itself includes:

The target drone adjusts its own flying height.

Preferably, the preset monitoring route is:

When the monitored object is not found, according to the position sequence of the multiple partial areas divided in advance for the monitoring area, the target drone passes over the adjacent partial areas in sequence;

When the monitored object is found, the target drone is controlled to fly at a predetermined distance from the monitored object.

Further, the controller analyzes the received video image, and the step of judging whether the alarm condition is met includes:

The controller analyzes the received video image, and determines whether the video image contains a monitored object;

If it contains, then judge whether the currently monitored object leaves the monitoring area;

If it leaves the monitoring area, it is determined that the alarm conditions are met.

The present invention provides a monitoring method based on unmanned aerial vehicle. By taking the position of the current target unmanned aerial vehicle and the position of the target unmanned aerial vehicle base station closest to the target unmanned aerial vehicle as an intermediate point, the The first navigation path between the starting point and the intermediate point, and move to the target UAV base station according to the first navigation path, and then calculate the intermediate point and the center of the area to be monitored according to the electronic map data the second navigation path between the positions, and move to above the central position of the monitoring area according to the second navigation path, and the target UAV obtains the video images in the monitoring area according to the preset monitoring route, The video image is sent to the controller of the remote control center through wireless communication, and the controller analyzes the received video image to determine whether the alarm conditions are met, and if so, an alarm is issued. In the present invention, the UAV does not calculate the entire navigation path at one time, but uses the UAV base station as the intermediate point to divide the entire navigation path into multiple navigation paths for calculation, thereby reducing the need for each calculation. The amount of calculation at the same time makes it possible to reach the monitoring area faster when using the drone for monitoring operations, which improves the intelligence of the drone, and at the same time facilitates the monitoring of the monitored objects in the designated area, providing monitoring operators. Provide convenience.

Description of drawings

FIG. 1 is a schematic flowchart of a monitoring method based on a drone provided by the present invention.

Detailed ways

In order to make those skilled in the art better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Referring to Figure 1, a drone-based surveillance method includes:

Step 101 , the preset target UAV obtains the location information of the starting point and the regional location information of the area to be monitored.

The target drone in the present invention is a drone used for remote monitoring, and monitoring equipment is installed on the drone, such as a camera and an information transmission device that transmits the video image captured by the camera to the control terminal, and A communication device for establishing a communication connection between the information transmission device and the control terminal. In specific use, in order to facilitate the monitoring of the object to be monitored, it is necessary to first obtain the location of the current target drone and the monitoring area where the object to be monitored is currently located, and to know the area where the target drone will fly. The next step is to calculate and arrange the flight route.

Step 102: The target UAV determines the position of the target UAV base station that is currently closest to the UAV, and uses the position of the target UAV base station as an intermediate point.

After the current location of the target UAV and the location information of the area to be monitored to which the UAV is to fly are determined in the above steps, the target UAV obtains the location of the nearest UAV base station, and the The position of the UAV base station is used as an intermediate point, and the intermediate point is the destination point to be reached by the first flight route of the current target UAV.

Step 103: The target UAV calculates a first navigation path between the starting point and the intermediate point according to the electronic map data, and moves to the target UAV base station according to the first navigation path.

When the position of the nearest base station of the target UAV is determined, calculate the navigation path of the UAV from the current position to the nearest UAV base station, here is the first navigation path, and fly to the target according to the first navigation path Drone base station.

In this step, in order to make the target UAV fly smoothly along the first navigation path to the target UAV base station, the following steps are also included:

Further, in the present invention, since there may be multiple drones flying at the same time, in order to ensure safety, the target drone base station can be deployed uniformly, specifically:

The moving of the target drone to the target drone base station according to the first navigation path includes:

The target UAV sends the first navigation path to the target UAV base station;

The target UAV base station adjusts the first navigation path according to the received navigation paths sent by each UAV to obtain a third navigation path;

The target UAV base station sends the third navigation path to the target UAV;

The target UAV moves to the target UAV base station according to the third navigation path.

In the present invention, the target UAV base station can obtain the third navigation path in various ways:

one,

The target UAV base station adjusts the first navigation path according to the received navigation paths sent by each UAV to obtain a third navigation path including:

The target UAV base station compares each navigation path to determine an overlapping road section, and the overlapping road section is a common part of at least two navigation paths;

The target UAV base station determines whether the overlapping road section exists in the first navigation path, and if so, the target UAV base station re-runs the overlapping road section in the first navigation path. Plan to obtain non-overlapping road sections;

The target UAV base station generates the third navigation path according to the non-overlapping road sections and the first navigation path.

two,

The target UAV base station adjusts the first navigation path according to the received navigation paths sent by each UAV to obtain a third navigation path including:

The target UAV base station receives flight plan information sent by each UAV, and the flight plan information includes take-off time, flight speed and flight altitude;

The target UAV base station determines whether the target UAV and other UAVs have an encounter point on the first navigation path according to the flight plan information;

If there is, the target UAV base station takes the encounter point as the center point and the preset distance as the radius, and sets the avoidance road section;

The target UAV base station generates the third navigation path according to the avoidance road section and the first navigation path.

Step 104, the target UAV calculates the second navigation path between the intermediate point and the center of the area to be monitored according to the electronic map data, and moves to the center of the monitoring area according to the second navigation path above the location.

This step calculates the second navigation path, that is, the navigation path from the base station of the UAV to the center of the area to be monitored. In this method, when calculating the second navigation path, the center position of the area to be monitored can be used as the end point of the UAV flight. It is conceivable that, in the specific implementation process, any point in the area to be monitored can be used as the destination of the target drone flight. After the target UAV calculates the current navigation path, it sails to the area to be monitored according to the calculated first navigation path.

Step 105: The target drone acquires a video image in the monitoring area according to a preset monitoring route, and sends the video image to the controller of the remote control center through wireless communication.

When the target UAV flies to the area to be monitored, it will fly in the area to be monitored according to the preset monitoring route, and at the same time obtain the video image of the area to be monitored, and send the captured video image to the remote control center for monitoring personnel to carry out Image monitoring, or the server automatically analyzes the video image to determine whether there is an abnormality.

Specifically, the preset monitoring route in this step is that when the target drone arrives in the area to be monitored, the area to be monitored will be checked according to the predetermined navigation route, and the monitored objects in the area to be monitored will be found out. The rules of the monitoring area are comprehensively checked, and the specific location of the monitored object is obtained.

Preferably, the preset monitoring route is:

Before the monitored object is not found, according to the position sequence of the multiple partial areas divided in advance for the monitoring area, the target drone passes over the adjacent partial areas in sequence. For example: the area to be monitored is divided into multiple adjacent partial areas. The target drone first flies to the leftmost or rightmost part of the area located at the forefront, and then starts from front to back and from left to right. Fly over part of the area, and acquire video images in each part area.

When the monitored object is found, the target drone is controlled to fly at a predetermined distance from the monitored object.

Step 106: The controller analyzes the received video images, determines whether the alarm conditions are met, and if so, issues an alarm.

The controller analyzes the received video image, and judges whether it meets the alarm conditions, and the steps include:

The controller analyzes the received video image, and determines whether the video image contains a monitored object; judging whether the video image contains a monitored object can be determined by comparing the characteristics of the objects appearing in the image with the pre-stored characteristics of the monitored object. The comparison is performed, and if the comparison is successful, it is determined that the monitored object appears in the current video image.

If it contains, then judge whether the currently monitored object leaves the monitoring area;

If it leaves the monitoring area, it is determined that the alarm conditions are met.

In the specific embodiment of the monitoring method of the present invention, in addition to the target UAV base station can adjust the navigation path, the target UAV itself can also further adjust its own motion information, thereby preventing collisions, specifically:

The method also includes:

During the movement of the target drone, the target drone determines whether there are other interfering drones within its preset range;

If there is, the target drone establishes a wireless connection with the interfering drone;

The target UAV receives the motion information of the interfering UAV through the wireless connection, and the motion information includes the flight speed, the flight direction and the flight height of the interfering UAV;

The target UAV determines whether it has a collision risk with the interfering UAV according to the motion information of the interfering UAV;

If there is a collision risk, the target UAV adjusts its own motion information.

Wherein, determining whether the target drone has a collision risk with the interference drone according to the motion information of the interference drone includes:

The target UAV determines whether the flight direction of the interfering UAV is the same as its own flight direction, and if it is different, it is determined that there is no collision risk between itself and the interfering UAV.

If the flight direction of the interfering drone is the same as its own, the target drone determines whether the flight height of the interfering drone is the same as its own. There is no risk of collision with the jamming drone.

If the flight altitude of the interference drone is the same as its own flight altitude, the target drone decomposes the flight speed of the interference drone to obtain the first speed, the second speed and the third speed. The first speed is the speed in the direction of the first dimension, the second speed is the speed in the direction of the second dimension, the third speed is the speed in the direction of the third dimension, and the first dimension is the speed in the direction of the target. The direction of the man-machine, the second dimension direction is the direction away from the target UAV, and the third dimension direction is the direction parallel to the flight direction of the target UAV;

The target drone determines whether the pointing speed is greater than 0. If so, it determines that there is a risk of collision between itself and the interfering drone. If not, it determines that it does not exist with the interfering drone. Collision risk.

In the present invention, the movement information of the target drone to adjust itself includes:

The target drone adjusts its own flight speed in the first dimensional direction to be greater than or equal to the first speed.

Alternatively, the movement information of the target drone to adjust itself includes:

The target drone adjusts its own flying height.

In order to provide a more detailed description of the present invention, a specific implementation method is given below by taking the monitored object as a certain precious animal as an example.

First of all, scientists know in advance that the precious animal has been moving in a fixed area in the near future. In order to protect the precious animal, scientists start the drone to monitor it to prevent accidents.

Second, obtain the location information of the target UAV base station closest to the current position, and use the location of the target UAV base station as an intermediate point to calculate the first navigation path from the target UAV to the target UAV base station. . In the specific calculation process, the calculated first navigation path is combined with other nearby UAV navigation paths and non-overlapping road sections to re-plan a third navigation path, and fly to the target according to the planned third navigation path. man-machine base station.

Thirdly, calculate the second navigation path from the target UAV base station to the center of the area to be monitored, and also consider the situation of other UAV navigation paths and non-overlapping road sections, re-plan the fourth navigation path, and follow the first navigation path. Four navigation paths fly to the center of the area to be monitored.

Finally, the target drone that arrives in the area to be monitored turns on the mode of searching for the precious animals being monitored in the whole area, obtains the video images of the whole area according to the preset search path, and sends the video images to the controller of the control center. The controller analyzes the acquired video images, performs feature matching, and determines whether there is a precious animal to be monitored in the video screen. Distance, and real-time video recording of its activity and sending the captured video to the control center, the control center judges whether the precious animal leaves the area to be monitored, and if it leaves the area to be monitored, an alarm will be issued.

The monitoring method provided by the present invention is suitable for monitoring the whereabouts of animals in a certain area. It can be used to obtain the daily habits of the animal, or to protect the animal and prevent the animal from deviating from the protection area. Therefore, it is a natural science Facilitates animal and plant research in .

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions described in the embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present invention.

Claims (7)

1. a monitoring method based on unmanned aerial vehicle, is characterized in that, described method comprises: The preset target UAV obtains the location information of the starting point and the regional location information of the area to be monitored; The target UAV determines the position of the target UAV base station that is currently closest to the UAV, and uses the position of the target UAV base station as an intermediate point; The target UAV calculates the first navigation path between the starting point and the intermediate point according to the electronic map data, and moves to the target UAV base station according to the first navigation path; The target UAV calculates a second navigation path between the intermediate point and the central position of the to-be-monitored area according to the electronic map data, and moves to above the central position of the monitoring area according to the second navigation path; The target drone obtains the video image in the monitoring area according to the preset monitoring route, and sends the video image to the controller of the remote control center through wireless communication; The controller analyzes the received video images, determines whether the alarm conditions are met, and if so, issues a warning; During the movement of the target drone, the target drone determines whether there are other interfering drones within its preset range; If there is, the target drone establishes a wireless connection with the interfering drone; The target drone receives movement information of the interference drone through the wireless connection, and the movement information includes the flight speed, flight direction and flight altitude of the interference drone; The target UAV determines whether it has a collision risk with the interfering UAV according to the motion information of the interfering UAV; If there is a collision risk, the target UAV adjusts its own motion information; The target UAV determines whether there is a risk of collision with the interfering UAV according to the motion information of the interfering UAV, including: If the flight altitude of the interference drone is the same as its own flight altitude, the target drone decomposes the flight speed of the interference drone to obtain the first speed, the second speed and the third speed. The first speed is the speed in the direction of the first dimension, the second speed is the speed in the direction of the second dimension, the third speed is the speed in the direction of the third dimension, and the first dimension is the speed in the direction of the target. The direction of the man-machine, the second dimension direction is the direction away from the target UAV, and the third dimension direction is the direction parallel to the flight direction of the target UAV; The target drone determines whether the pointing speed is greater than 0. If so, it determines that there is a risk of collision between itself and the interfering drone. If not, it determines that it does not exist with the interfering drone. Collision risk. 2. The method according to claim 1, wherein moving the target drone to the target drone base station according to the first navigation path comprises: The target UAV sends the first navigation path to the target UAV base station; The target UAV base station adjusts the first navigation path according to the received navigation paths sent by each UAV to obtain a third navigation path; The target UAV base station sends the third navigation path to the target UAV; The target UAV moves to the target UAV base station according to the third navigation path. 3. The method according to claim 2, wherein the target UAV base station adjusts the first navigation path according to the received navigation path sent by each UAV to obtain the third navigation path comprising: The target UAV base station compares each navigation path to determine an overlapping road section, and the overlapping road section is a common part of at least two navigation paths; The target UAV base station determines whether the overlapping road section exists in the first navigation path, and if so, the target UAV base station re-runs the overlapping road section in the first navigation path. Plan to obtain non-overlapping road sections; The target UAV base station generates the third navigation path according to the non-overlapping road sections and the first navigation path. 4. The method according to claim 2, wherein the target UAV base station adjusts the first navigation path according to the received navigation path sent by each UAV to obtain the third navigation path comprising: The target UAV base station receives flight plan information sent by each UAV, and the flight plan information includes take-off time, flight speed and flight altitude; The target UAV base station determines whether the target UAV and other UAVs have an encounter point on the first navigation path according to the flight plan information; If there is, the target UAV base station takes the encounter point as the center point and the preset distance as the radius, and sets the avoidance road section; The target UAV base station generates the third navigation path according to the avoidance road section and the first navigation path. 5. The method according to claim 1, wherein the adjustment of the motion information of the target drone comprises: The target drone adjusts its own flight speed in the first dimension direction to be greater than or equal to the first speed; The movement information of the target drone to adjust itself includes: The target drone adjusts its own flying height. 6. The method according to claim 5, wherein the preset monitoring route is: When the monitored object is not found, according to the position sequence of the multiple partial areas divided in advance for the monitoring area, the target drone passes over the adjacent partial areas in sequence; When the monitored object is found, the target drone is controlled to fly at a predetermined distance from the monitored object. 7. The method according to claim 6, wherein the controller analyzes the received video image, and the step of judging whether the alarm condition is met comprises: The controller analyzes the received video image, and determines whether the video image contains a monitored object; If it contains, then judge whether the currently monitored object leaves the monitoring area; If it leaves the monitoring area, it is determined that the alarm conditions are met.

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