CN114815897A - Unmanned aerial vehicle-based park inspection method and system - Google Patents
Unmanned aerial vehicle-based park inspection method and system Download PDFInfo
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Abstract
The application relates to the technical field of park management, in particular to a park inspection method and a system based on an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring a polling instruction; carrying out information acquisition on the designated area and forming acquisition information; analyzing the collected information and judging whether an abnormal condition exists or not; when no abnormal condition exists, calling a return program; when the abnormal condition is judged to exist, processing the abnormal condition; after the abnormal condition is processed, calling a return program; and controlling the unmanned aerial vehicle to return to the hangar according to a return program. According to the park inspection method and system based on the unmanned aerial vehicle, if the unmanned aerial vehicle judges that abnormal conditions exist, the unmanned aerial vehicle can automatically process the abnormal conditions, and after the abnormal conditions are processed, the park inspection method returns to the hangar. Whether the automatic judgement through unmanned aerial vehicle has unusually like this to automatic handle unusually, so not only reduced artificial cost, and can also avoid the injury of unusual condition to the people a bit.
Description
Technical Field
The application relates to the technical field of park management, in particular to a park inspection method and system based on an unmanned aerial vehicle.
Background
At present, the market of unmanned aerial vehicles in China has been developed for over 30 years, and is gradually expanded from the initial military field to the civil field. With the rapid development of the domestic unmanned aerial vehicle market, the acceptance and demand of the common people on unmanned aerial vehicles gradually rise.
The civil market of unmanned aerial vehicles is very wide, and the unmanned aerial vehicles comprise wide fields such as police, city management, agriculture, geology, meteorology, electric power, emergency rescue and disaster relief. For example, the use of drones in the field of park management makes the management of parks more scientific. The state of the park is monitored in real time by the unmanned aerial vehicle, if abnormal conditions are found, the unmanned aerial vehicle sends the found abnormal conditions to the monitoring center, and the staff of the monitoring center can process the abnormal conditions of the park according to the abnormal conditions.
Current unmanned aerial vehicle patrols and examines to the park, utilize the camera to carry out the analysis to the condition in park, if discover unusually, feedback the surveillance center with unusual result, the surveillance center rearrangement staff examines unusual condition, for example when there is large-scale dog in park to only get into the park, because large-scale dog only can cause the injury to the people, at this moment, nobody opportunity only carries out an discernment to large-scale dog, when large-scale dog is only, nobody opportunity forms the signal, reach the surveillance center with signal transmission, the surveillance center dispatches the staff again and drives. This increases the use of manpower and also causes injury to personnel.
Disclosure of Invention
In order to solve the problem that the existing unmanned aerial vehicle patrols and examines the park, the camera is utilized to analyze the condition of the park, if the abnormal condition is found, the abnormal result is fed back to the monitoring center, the monitoring center reorders the working personnel to investigate the abnormal condition, for example, when the park has a large dog to enter the park, because the large dog only can cause injury to the human body, at the moment, the unmanned aerial vehicle only identifies the large dog, when the large dog is only, the unmanned aerial vehicle forms a signal, the signal is transmitted to the monitoring center, and the monitoring center sends the working personnel to drive. Increase the cost of labor like this to still can cause the technical problem of injury to the people staff, this application provides a park patrols and examines method and system based on unmanned aerial vehicle.
In order to achieve the above object, the present application provides an unmanned aerial vehicle-based park inspection method, which adopts the following technical scheme:
a park inspection method based on an unmanned aerial vehicle comprises the following steps:
acquiring a polling instruction;
carrying out information acquisition on the designated area and forming acquisition information;
analyzing the collected information and judging whether an abnormal condition exists or not;
when no abnormal condition exists, calling a return program;
when the abnormal situation is judged to exist, processing the abnormal situation;
after the abnormal condition is processed, calling the return program;
and controlling the unmanned aerial vehicle to return to the hangar according to the return program.
By adopting the technical scheme, the unmanned aerial vehicle acquires the patrol inspection instruction sent by the monitoring center, flies to the braking area according to the patrol inspection instruction, acquires information in the designated area, automatically analyzes and judges whether abnormal conditions exist in the acquired information, and if abnormal conditions do not exist, the unmanned aerial vehicle can automatically call a return program in the system and return to the hangar to stop working according to the return program. If the unmanned aerial vehicle judges that abnormal conditions exist, the unmanned aerial vehicle can automatically process the abnormal conditions, and after the abnormal conditions are processed, the unmanned aerial vehicle can automatically call a return program prestored in the system and return to the hangar. Whether the automatic judgement through unmanned aerial vehicle has unusually like this to automatic handle unusually, so not only reduced artificial cost, and can also avoid the injury of unusual condition to the people a bit.
Optionally, the patrol and examine the instruction and include navigation instruction, patrol and examine the content instruction and patrol and examine the route instruction, carry out information acquisition to the specified area to form the information of gathering and include:
the unmanned aerial vehicle moves to the instructed area according to the navigation instruction;
the unmanned aerial vehicle moves in the instruction area according to the routing inspection route, and acquires information in the designated area according to the routing inspection content.
Through adopting above-mentioned technical scheme, unmanned aerial vehicle's the instruction of patrolling and examining includes: the unmanned aerial vehicle flies to a specified area according to the navigation instruction, and then inspects the inspection content in the specified area according to the inspection line instruction and the inspection content instruction according to the inspection line. Therefore, the route and the work content of the unmanned aerial vehicle are controlled through the navigation instruction, the patrol inspection content instruction and the patrol inspection line instruction, the unmanned aerial vehicle is prevented from flying around, and the work content of the unmanned aerial vehicle can be found correctly.
Optionally, the abnormal condition is a large dog, and the processing of the abnormal condition includes:
sending a driving signal and recording the time length of sending an instruction to form driving time length;
comparing the driving time with a preset driving time threshold;
and when the driving duration is greater than the driving duration threshold, returning to the information acquisition of the designated area and executing subsequent operation.
Through adopting above-mentioned technical scheme, unusual information includes that there is large-scale dog in the park, when having large-scale dog to enter in the park, unmanned opportunity sends the signal of driving automatically to can will send the length of time of driving the signal and carry out the record, length of time and the length of time of predetermineeing driving of recording are compared, when driving time is greater than the time of predetermineeing of driving, unmanned opportunity once more gather appointed area and carry out the operation at the back with the information of gathering. Like this through self send drive signal with large-scale dog only drive out, can continue after driving out carry out information acquisition to the appointed area and be used for judging whether the large-scale dog in the region of making drives away only totally.
Optionally, the abnormal condition is a condition of too little water, and the processing the abnormal condition includes:
the unmanned aerial vehicle sends a first valve opening instruction;
the water inlet valve receives the first valve opening instruction and opens the water inlet valve;
recording the water inlet time of the water inlet valve, and forming the water inlet duration;
comparing the water inlet time with a preset water inlet time threshold;
and when the water inlet duration is greater than the water inlet duration threshold, returning to the information acquisition of the specified area and executing subsequent operation.
Through adopting above-mentioned technical scheme, unmanned aerial vehicle can also carry out a judgement to the water yield of the pond in that the park too little, and when the water yield was too little, unmanned aerial vehicle can be automatic sends first valve opening instruction for open the valve of intaking, and the record is opened the length of time of valve. And judging the valve opening time length and a set threshold value, judging whether the threshold value time length is reached, if so, continuing to collect the information of too small water amount in the specified area, and continuing to perform the previous operation to judge whether the water amount is enough. Through a judgement to the water yield is too little like this, can be so that the park has water throughout the year, kept the aesthetic property in park to unmanned aerial vehicle's automation is sent out and is drained, has reduced artificial operation, saves the cost.
Optionally, the abnormal condition is an excessive water amount condition, and the processing the abnormal condition includes:
the unmanned aerial vehicle sends a second valve opening instruction;
the water outlet valve receives the second valve opening instruction and opens the water outlet valve;
recording the water outlet time of the water outlet valve, and forming the water outlet duration;
comparing the water outlet time with a preset water outlet time threshold;
and when the water outlet duration is greater than the water outlet duration threshold, returning to the information acquisition of the specified area and executing subsequent operation.
By adopting the technical scheme, the unmanned aerial vehicle patrols and examines the excessive water yield of the park pond, when the water yield is excessive, the unmanned aerial vehicle sends a second valve opening instruction to open the water outlet valve, and meanwhile, the water outlet duration can be automatically recorded, the water outlet duration is compared with the preset water outlet duration, if the water outlet duration is greater than the threshold value of the water outlet duration, the excessive water is discharged almost, and at the moment, the unmanned aerial vehicle can acquire information of the specified area again. To determine whether to discharge the water amount to an appropriate amount. Through judging the water yield too much like this, can prevent that the too much emergence that leads to the incident of park pond water yield, guaranteed visitor's security like this.
Optionally, the method further includes:
acquiring the residual value of the electric quantity of the unmanned aerial vehicle;
comparing the residual value of the electric quantity with a preset residual electric quantity threshold value;
and when the residual value of the electric quantity is smaller than the residual electric quantity threshold value, calling the return program to return to the machine library for charging operation.
Through adopting above-mentioned technical scheme, unmanned aerial vehicle carries out information acquisition while unmanned aerial vehicle has the automatic residual capacity of monitoring, compares residual capacity and predetermined residual capacity value, if residual capacity value is less than the residual capacity threshold value, explains that the electric quantity is not enough, and at this moment unmanned aerial vehicle has the automatic working position coordinate point position to present face to take notes, can call immediately after the record and return the procedure and return to the hangar and carry out the operation of charging according to returning procedure unmanned aerial vehicle. Through the judgement to the unmanned aerial vehicle electric quantity like this, can prevent that unmanned aerial vehicle from the not enough condition of electric quantity appears in the course of the work, lead to unmanned aerial vehicle to fall, also can guarantee that unmanned aerial vehicle can return to the hangar.
When the electric quantity remaining value is smaller than the remaining electric quantity threshold value, calling the return program to return to the machine library for charging operation comprises:
when the residual value of the electric quantity is smaller than the residual electric quantity threshold value, the nobody acquires a coordinate point of the current position to form power shortage coordinate information;
calling the return program;
returning to the machine library for charging operation according to the returned program;
judging whether the charging operation is finished or not;
when the charging operation is finished, acquiring power shortage coordinate information;
and returning the unmanned aerial vehicle to the corresponding coordinate point position according to the power shortage coordinate information and continuously finishing the subsequent operation.
By adopting the technical scheme, the coordinate information acquired before can be called after the unmanned aerial vehicle is charged, the coordinate information is returned to the coordinate point according to the coordinate information, and then the follow-up work which is not finished is continuously finished. Therefore, uncompleted subsequent work can be continuously completed by calling the coordinate point position, and the work can be ensured to be normally carried out.
In order to achieve the above object, another aspect of the present application provides a park inspection system based on an unmanned aerial vehicle, which adopts the following technical scheme:
a park inspection system based on unmanned aerial vehicle includes:
the instruction receiving module is used for receiving the inspection instruction;
the information acquisition module is used for acquiring information of the designated area and forming acquisition information;
the information processing module is used for analyzing and processing the acquired information and judging whether an abnormal condition exists or not;
the return processing module is used for stopping the current operation and calling a return program to return to the library when no abnormal condition is judged;
the exception handling module is used for handling the exception condition when the exception condition is judged to exist;
through adopting above-mentioned technical scheme, through mutually supporting of above module, unmanned aerial vehicle's automatic judgement has or not unusual to automatic handle unusually, so not only reduced artificial cost, and can also avoid the injury of unusual condition to the people a bit.
Optionally, the exception handling module includes:
the signal sending submodule is used for sending driving signals and recording the time length of sending instructions to form driving time length,
the processing time length comparison submodule is used for comparing the driving time length with a preset driving time length and a preset driving time length threshold value;
the valve control submodule is used for sending a valve opening instruction of the water inlet and outlet valve by the unmanned aerial vehicle;
the valve signal receiving submodule is used for receiving the valve opening instruction of the water inlet and outlet valve by the water inlet and outlet valve and opening the water inlet and outlet valve;
the water flow duration recording submodule is used for recording the water inlet and outlet time of the water inlet and outlet valve and forming the water inlet and outlet duration;
and the water flow time length comparison submodule is used for comparing the water inlet and outlet time length with a preset water inlet and outlet time length threshold value.
Through adopting above-mentioned technical scheme, through mutually matching of submodule, drive the signal through self and only drive away large-scale dog, can continue after driving and carry out information acquisition and be used for judging whether the large-scale dog in the region of formulating drives away only totally to appointed region. Through a judgement to the water yield is too little, can be so that the park has water throughout the year, kept the aesthetic property in park to unmanned aerial vehicle's automation is sent out and is drained, has reduced artificial operation, saves the cost. Through judging the water yield too much, can prevent that the too much emergence that leads to the incident of park pond water yield, guaranteed visitor's security like this.
Optionally, the method further includes:
the electric quantity obtaining module is used for obtaining the residual value of the electric quantity of the unmanned aerial vehicle;
the electric quantity comparison module is used for comparing the electric quantity residual value with a preset residual electric quantity threshold value;
the coordinate acquisition module is used for acquiring a coordinate point position of the current position by the nobody when the electric quantity residual value is smaller than the residual electric quantity threshold value to form power-shortage coordinate information;
and the coordinate storage module is used for storing the power shortage coordinate information.
Through adopting above-mentioned technical scheme, each module is mutually supported, through the judgement to the unmanned aerial vehicle electric quantity, can prevent that unmanned aerial vehicle from the not enough condition of electric quantity appearing in the course of the work, leads to unmanned aerial vehicle to fall, also can guarantee that unmanned aerial vehicle can return to the hangar.
In summary, the present application has the following beneficial technical effects:
the unmanned aerial vehicle acquires a patrol inspection instruction sent by the monitoring center, flies to a braking area according to the patrol inspection instruction, acquires information in a designated area, automatically analyzes and judges whether abnormal conditions exist in the acquired information, and if the abnormal conditions do not exist, the unmanned aerial vehicle can automatically call a return program in the system and return to the hangar to stop working according to the return program. If the unmanned aerial vehicle judges that abnormal conditions exist, the unmanned aerial vehicle can automatically process the abnormal conditions, and after the abnormal conditions are processed, the unmanned aerial vehicle can automatically call a return program prestored in the system and return to the hangar. Whether the automatic judgement through unmanned aerial vehicle has unusually like this to automatic handle unusually, so not only reduced artificial cost, and can also avoid the injury of unusual condition to the people a bit.
Drawings
FIG. 1 is a schematic flow chart of a park inspection method based on an unmanned aerial vehicle;
FIG. 2 is a schematic flow chart illustrating the process of collecting information and forming collected information for a designated area according to this embodiment;
fig. 3 is a schematic flow chart illustrating a process for processing an abnormal situation of a large dog according to the present embodiment;
FIG. 4 is a schematic view of a flow chart of processing an abnormal situation in the embodiment when the abnormal situation is a situation of an excessive water amount;
FIG. 5 is a schematic view of a flow chart of processing an abnormal situation in the embodiment when the abnormal situation is an excessive water amount;
FIG. 6 is a schematic flow chart of another implementation method of the park inspection method based on the unmanned aerial vehicle;
fig. 7 is a schematic view illustrating a flow of calling a return program to return to the library for charging operation when the remaining value of the electric quantity is smaller than the remaining-electric-quantity threshold value in the present embodiment;
FIG. 8 is a schematic diagram of a park inspection system based on unmanned aerial vehicles.
Reference numerals: 1. an instruction receiving module; 2. an information acquisition module; 3. an information processing module; 4. returning to the processing module; 5. an exception handling module; 6. an electric quantity obtaining module; 7. an electric quantity comparison module; 8. a coordinate acquisition module; 9. a coordinate storage module; 51. a signal sending submodule; 52. a processing time comparison submodule; 53. a valve control submodule; 54. a valve signal receiving submodule; 55. a water flow time recording submodule; 56. and water flow time comparison submodule.
Detailed Description
The present application is described in further detail below with reference to figures 1-8.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses and applies for a park inspection method based on an unmanned aerial vehicle with reference to FIG. 1, which comprises the following steps:
s100, acquiring a polling instruction;
the unmanned aerial vehicle acquires a patrol inspection instruction sent by the monitoring center.
S200, collecting information of the designated area and forming collected information;
and according to a new establishment instruction sent in the monitoring, the unmanned aerial vehicle carries out information acquisition on the designated area after flying to the designated area.
In this embodiment, information acquisition adopts unmanned aerial vehicle high definition digtal camera and the sensor of carrying on one's body to gather.
S300, analyzing the acquired information and judging whether an abnormal condition exists or not;
after the unmanned aerial vehicle collects the information, the collected information can be automatically analyzed according to an algorithm stored in the system, and whether an abnormal condition occurs in the designated area or not is judged.
S400, when no abnormal condition exists, calling a return program;
in this embodiment, the return program is a program preset in advance, and is a program for controlling the drone to automatically return to the hangar.
S500, when the abnormal condition is judged, processing the abnormal condition;
if the unmanned aerial vehicle judges that the designated area has abnormal conditions, the unmanned aerial vehicle automatically processes the abnormal conditions.
S600, after the abnormal condition is processed, calling a return program;
when the abnormal condition is processed, no one can automatically call the return program stored in the system.
And S700, controlling the unmanned aerial vehicle to return to the hangar according to a return program.
According to the return program, the drone returns to the hangar.
The unmanned aerial vehicle acquires a patrol inspection instruction sent by the monitoring center, flies to a braking area according to the patrol inspection instruction, acquires information in a designated area, automatically analyzes and judges whether abnormal conditions exist in the acquired information, and if the abnormal conditions do not exist, the unmanned aerial vehicle can automatically call a return program in the system and return to the hangar to stop working according to the return program. If the unmanned aerial vehicle judges that abnormal conditions exist, the unmanned aerial vehicle can automatically process the abnormal conditions, and after the abnormal conditions are processed, the unmanned aerial vehicle can automatically call a return program prestored in the system and return to the hangar.
Adopt this technical scheme, the automatic judgement through unmanned aerial vehicle has or not unusual like this to automatic handle unusual, so not only reduced artificial cost, and can also avoid the injury of unusual condition to the people a bit.
In one implementation of this embodiment, referring to fig. 2, in step S200, that is, the inspection instruction includes a navigation instruction, an inspection content instruction, and an inspection route instruction, the acquiring information of the specified area, and the forming the acquired information includes:
s210, the unmanned aerial vehicle moves to an instruction area according to the navigation instruction;
in this embodiment, the navigation instructions are used to navigate the drone to the location of the designated area.
And S220, the unmanned aerial vehicle moves in the designated area according to the routing inspection instruction, and acquires information in the designated area according to the routing inspection content instruction.
In this embodiment, the patrol route instruction is used to control the unmanned aerial vehicle to move according to a specified route in a specified area.
In this embodiment, the patrol inspection content instruction is used for informing the unmanned aerial vehicle of the content that needs to be patrolled and inspected, and controlling the unmanned aerial vehicle to patrol and inspect.
Unmanned aerial vehicle's instruction of patrolling and examining includes: the unmanned aerial vehicle flies to a specified area according to the navigation instruction, and then inspects the inspection content in the specified area according to the inspection line instruction and the inspection content instruction according to the inspection line.
By adopting the technical scheme, the route and the work content of the unmanned aerial vehicle are controlled through the navigation instruction, the patrol content instruction and the patrol line instruction, the unmanned aerial vehicle is prevented from flying around, and the work content of the unmanned aerial vehicle can be correctly found.
In one implementation manner of this embodiment, referring to fig. 3, in step S500, the abnormal condition is a large dog, and the processing the abnormal condition includes:
s510, sending a driving signal and recording the time length for sending an instruction to form driving time length;
the unmanned aerial vehicle judges that if a large dog enters the park, a driving signal can be sent out.
S520, comparing the driving time with a preset driving time threshold value;
in this embodiment, the driving duration threshold is 3 minutes, and other times may be used, such as: 2 minutes, 4 minutes, etc., and the concrete conditions are selected according to actual conditions.
And S530, when the driving duration is greater than the driving duration threshold, returning to the information acquisition of the specified area and executing subsequent operation.
If the driving time is larger than the driving time threshold value, the unmanned aerial vehicle can pause to send the driving signal, and the unmanned aerial vehicle automatically returns to the designated area to perform information acquisition again to judge whether the large dog still exists, and if so, the driving operation can be continuously performed until the large dog is driven out completely.
In this embodiment, there is also a case that if the driving time is less than or equal to the driving time threshold, no one will continue to send out the driving signal at this time.
Abnormal information includes that there is large-scale dog the park the inside only, when having large-scale dog to enter into in the park, unmanned opportunity sends the signal of driving automatically to can will send the length of time of driving the signal and take notes, length of time and the length of time of predetermineeing driving of recording are compared, when driving the time and be greater than the time of predetermineeing of driving, unmanned opportunity once more gather appointed area and carry out the operation at the back with the information of gathering.
By adopting the technical scheme, the large dog is driven away only by the driving signal sent by the driving device, and the large dog which can continue to drive away and is used for judging whether the designated area is designed to be driven away only by carrying out information acquisition on the designated area.
In one embodiment of this embodiment, referring to fig. 4, the step S500, that is, the abnormal situation is a situation where the amount of water is too small, and the processing of the abnormal situation includes:
s540, the unmanned aerial vehicle sends a first valve opening instruction;
if the unmanned aerial vehicle judges that the pool water volume in the park is too small, at the moment, the unmanned aerial vehicle can automatically send out a first valve opening instruction.
In this embodiment, the first valve opening command is a command to control the inlet valve.
S550, the water inlet valve receives a first valve opening instruction and opens the water inlet valve;
and when the water inlet valve receives a first valve opening instruction, the water inlet valve opens the water inlet valve.
S560, recording the water inlet time of the water inlet valve, and forming the water inlet duration;
when water enters, no one can automatically record the water inlet time.
S570, comparing the water inlet time length with a preset water inlet time length threshold value;
in this embodiment, the water inlet duration threshold is 1 hour, and other times may also be used, such as: 0.5 hour, 2 hours and the like, and the specific selection is carried out according to actual conditions.
And S580, when the water inlet duration is greater than the water inlet duration threshold, returning to the step of acquiring information of the specified area and executing subsequent operation.
If the water inlet duration is longer than the water inlet duration threshold, no one can return to the designated area, information is collected again to judge whether the water tank is in the water shortage state, and if the water tank is in the water shortage state, the operation can be continued.
In this embodiment, if the water inlet duration is less than or equal to the water inlet duration threshold, at this time, no one may continue to open the water inlet valve to keep the water inlet state.
Unmanned aerial vehicle can also carry out a judgement to the water yield of the pond in that park too little, and when the water yield was too little, unmanned aerial vehicle can be automatic sends first valve opening instruction for opening the valve of intaking to the length of time of record valve opening. And judging the valve opening time length and a set threshold value, judging whether the threshold value time length is reached, if so, continuing to collect the information of too small water amount in the specified area, and continuing to perform the previous operation to judge whether the water amount is enough.
By adopting the technical scheme, the park can be always supplied with water through the judgment of the too small water amount, the attractiveness of the park is kept, the automatic water discharge of the unmanned aerial vehicle reduces the artificial operation, and the cost is saved.
In one embodiment of this embodiment, referring to fig. 5, the step S500, that is, the abnormal situation is an excessive water amount situation, and the processing of the abnormal situation includes:
s590, the unmanned aerial vehicle sends a second valve opening instruction;
in this embodiment, the second valve opening instruction is an instruction issued by the drone to control the outlet valve to open.
S5100, the water outlet valve receives a second valve opening instruction and opens the water outlet valve;
and after the water outlet valve receives the second valve opening instruction, the water outlet valve is automatically opened.
S5110, recording the water outlet time of the water outlet valve, and forming the water outlet duration;
and the time of water outlet of the water outlet valve can be automatically recorded by no person.
S5120, comparing the water outlet time length with a preset water outlet time length threshold value;
in this embodiment, the threshold of the water outlet duration is 1 hour, and other times may also be used, such as: 0.5 hour, 2 hours and the like, and the specific selection is carried out according to actual conditions.
S5130, when the water outlet time length is larger than the water outlet time length threshold value, returning to the step of carrying out information acquisition on the specified area and executing subsequent operation.
If the water outlet duration is longer than the water outlet duration threshold, no one can return to the designated area, information is collected again to judge whether the water pool is still in a water-rich state, and if the water pool is still rich, the operation can be continued.
In this embodiment, if the water outlet duration is less than or equal to the water outlet duration threshold, at this time, no one may continue to open the water outlet valve to keep the water outlet state.
The unmanned aerial vehicle patrols and examines the excessive water yield of the park pond, when the water yield is excessive, the unmanned aerial vehicle can send a second valve opening instruction to open the water outlet valve, the water outlet duration can be automatically recorded, the water outlet duration is compared with the preset water outlet duration, if the water outlet duration is larger than the threshold value of the water outlet duration, the excessive water is discharged almost, and at the moment, the unmanned aerial vehicle can acquire information of the specified area again. To determine whether to discharge the water amount to an appropriate amount.
By adopting the technical scheme, the occurrence of safety accidents caused by excessive water in the park pond can be prevented by judging excessive water, so that the safety of tourists is ensured.
In one implementation of this embodiment, referring to fig. 6, the method further includes:
s800, acquiring a residual value of the electric quantity of the unmanned aerial vehicle;
the unmanned aerial vehicle can obtain the remaining electric quantity value of oneself in real time at the in-process of work.
S900, comparing the residual value of the electric quantity with a preset residual electric quantity threshold value;
in this embodiment, the remaining power threshold is 10%, and may also be other values, such as: 5%, 15%, 20%, etc., and the concrete conditions are selected according to actual conditions.
And S1000, when the residual value of the electric quantity is smaller than the residual electric quantity threshold value, calling a return program to return to the machine base for charging operation.
If the residual capacity of the unmanned aerial vehicle is smaller than the residual capacity threshold value, the unmanned aerial vehicle immediately calls a return program to return to the hangar for charging operation.
Unmanned aerial vehicle carries out information acquisition while unmanned aerial vehicle chance is automatic monitors the residual capacity, compares residual capacity and predetermined residual capacity value, if the residual capacity value is less than the residual capacity threshold value, explains that the electric quantity is not enough, and at this moment unmanned aerial vehicle chance is automatic to carry out the record to the current operating position coordinate point position, can call immediately after the record and return the procedure and return to the hangar and carry out the operation of charging according to returning program unmanned aerial vehicle.
By adopting the technical scheme, the situation that the electric quantity is insufficient in the working process of the unmanned aerial vehicle can be prevented through judging the electric quantity of the unmanned aerial vehicle, so that the unmanned aerial vehicle falls, and the unmanned aerial vehicle can be ensured to return to a hangar.
In one implementation of this embodiment, referring to fig. 7, in step S1000, that is, when the remaining power value is smaller than the remaining power threshold, invoking a return program to return to the library for performing the charging operation includes:
s1010, when the residual value of the electric quantity is smaller than the residual electric quantity threshold value, nobody obtains the coordinate point position of the current position to form power shortage coordinate information;
when the electric quantity is insufficient, the unmanned aerial vehicle can automatically acquire the coordinate point information of the current point position to form power shortage coordinate point information, and the power shortage coordinate point information is stored in the storage unit of the unmanned aerial vehicle.
S1020, calling a return program;
when the electric quantity is insufficient, no person can automatically call a return program in the system.
S1030, returning to the hangar for charging operation according to the returned program;
s1040, judging whether the charging operation is finished or not;
no one can judge whether charging is completed in the charging operation.
S1050, when the charging operation is finished, acquiring power shortage coordinate information;
if charging is completed, no one can automatically acquire the power shortage coordinate point information previously stored in the storage unit.
In the embodiment, if the charging is not completed, no one can continue to wait for the charging operation in the machine base.
And S1060, returning the unmanned aerial vehicle to the corresponding coordinate point position according to the power shortage coordinate information and continuing to finish subsequent operations.
After the unmanned aerial vehicle acquires the coordinate point location, the unmanned aerial vehicle automatically flies to the point location position and continues to complete the next work.
And the unmanned aerial vehicle can call the coordinate information acquired before after charging is completed, returns to the coordinate point according to the coordinate information, and then continues to complete subsequent work which is not completed.
By adopting the technical scheme, uncompleted subsequent work can be continuously completed by calling the coordinate point position, and the work can be ensured to be normally carried out.
Referring to fig. 8, an embodiment of the present invention further provides a park inspection system based on an unmanned aerial vehicle, including: the system comprises an instruction receiving module 1, an information acquisition module 2, an information processing module 3, a return processing module 4 and an exception handling module 5.
The instruction receiving module 1 is used for receiving an inspection instruction; the information acquisition module 2 is used for acquiring information of the designated area and forming acquisition information; the information processing module 3 is used for analyzing and processing the acquired information and judging whether an abnormal condition exists or not; the return processing module 4 is used for stopping the current operation and calling a return program to return to the machine library when no abnormal condition is judged; the exception handling module 5 is used for handling the exception condition when the exception condition is judged to exist;
adopt this technical scheme, through mutually supporting of above module, unmanned aerial vehicle's automatic judgement has or not unusual to automatic handle unusually, so not only reduced artificial cost, and can also avoid the injury of unusual condition to the people a bit.
In one implementation of this embodiment, referring to fig. 8, the exception handling module 5 includes: the device comprises a signal sending submodule 51, a processing time length ratio submodule 52, a valve control submodule 53, a valve signal receiving submodule 54, a water flow time length recording submodule 55 and a water flow time length ratio submodule 56.
The signal sending submodule 51 is used for sending a driving signal and recording the time length for sending an instruction to form driving time length; a processing duration comparison submodule 52, configured to compare the driving duration with a preset driving duration and a preset driving duration threshold; the valve control submodule 53 is used for the unmanned aerial vehicle to send a valve opening instruction of the water inlet and outlet valves; the valve signal receiving submodule 54 is used for receiving the water inlet and outlet valve opening instruction by the water inlet and outlet valve and opening the water inlet and outlet valve; the water flow duration recording submodule 55 is used for recording the water inlet and outlet time of the water inlet and outlet valve and forming the water inlet and outlet duration; and the water flow time length comparison submodule 56 is used for comparing the water inlet and outlet time length with a preset water inlet and outlet time length threshold value.
By adopting the technical scheme, through the mutual matching of the sub-modules, the large dog is driven away only by the driving signal sent by the sub-modules, and the large dog which can continue to drive away and is used for judging whether the designated area is made is driven away only by the whole large dog. Through a judgement to the water yield is too little, can be so that the park has water throughout the year, kept the aesthetic property in park to unmanned aerial vehicle's automation is sent out and is drained, has reduced artificial operation, saves the cost. Through judging the water yield too much, can prevent that the too much emergence that leads to the incident of park pond water yield, guaranteed visitor's security like this.
In one implementation of this embodiment, referring to fig. 8, the method further includes: the device comprises an electric quantity acquisition module 6, an electric quantity comparison module 7, a coordinate acquisition module 8 and a coordinate storage module 9.
The electric quantity obtaining module 6 is used for obtaining the residual value of the electric quantity of the unmanned aerial vehicle; the electric quantity comparison module 7 is used for comparing the electric quantity residual value with a preset residual electric quantity threshold value; the coordinate acquisition module 8 is used for acquiring a coordinate point position of the current position by no one when the residual value of the electric quantity is smaller than the residual electric quantity threshold value to form power-shortage coordinate information; and the coordinate storage module 9 is used for storing the power shortage coordinate information.
By adopting the technical scheme, the modules are mutually matched, and the situation that the electric quantity is insufficient in the working process of the unmanned aerial vehicle can be prevented through judging the electric quantity of the unmanned aerial vehicle, so that the unmanned aerial vehicle falls off, and the unmanned aerial vehicle can be ensured to return to a hangar.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited thereto, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A park inspection method based on an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring a polling instruction;
carrying out information acquisition on the designated area and forming acquisition information;
analyzing the collected information and judging whether an abnormal condition exists or not;
when no abnormal condition exists, calling a return program;
when the abnormal condition is judged to exist, processing the abnormal condition;
after the abnormal condition is processed, calling the return program;
and controlling the unmanned aerial vehicle to return to the hangar according to the return program.
2. The park inspection method based on unmanned aerial vehicle of claim 1, wherein the inspection instructions include navigation instructions, inspection content instructions and inspection route instructions, and the acquiring information of the designated area and forming the acquired information includes:
the unmanned aerial vehicle moves to the instructed area according to the navigation instruction;
and the unmanned aerial vehicle moves in the specified area according to the routing inspection instruction, and acquires information in the specified area according to the routing inspection content instruction.
3. The park inspection method based on unmanned aerial vehicle of claim 1, wherein the abnormal situation is a large dog, and the processing the abnormal situation comprises:
sending a driving signal and recording the time length of sending an instruction to form driving time length;
comparing the driving time with a preset driving time threshold;
and when the driving duration is greater than the driving duration threshold, returning to the information acquisition of the designated area and executing subsequent operation.
4. The park inspection method based on unmanned aerial vehicle of claim 1, wherein the abnormal situation is a water shortage situation, and the processing of the abnormal situation comprises:
the unmanned aerial vehicle sends a first valve opening instruction;
the water inlet valve receives the first valve opening instruction and opens the water inlet valve;
recording the water inlet time of the water inlet valve, and forming the water inlet duration;
comparing the water inlet time with a preset water inlet time threshold;
and when the water inlet duration is greater than the water inlet duration threshold, returning to the information acquisition of the specified area and executing subsequent operation.
5. The park inspection method based on unmanned aerial vehicle of claim 1, wherein the abnormal situation is an excessive water quantity situation, and the processing of the abnormal situation comprises:
the unmanned aerial vehicle sends a second valve opening instruction;
the water outlet valve receives the second valve opening instruction and opens the water outlet valve;
recording the water outlet time of the water outlet valve, and forming the water outlet duration;
comparing the water outlet time with a preset water outlet time threshold;
and when the water outlet duration is greater than the water outlet duration threshold, returning to the information acquisition of the specified area and executing subsequent operation.
6. The park inspection method based on unmanned aerial vehicle of claim 1, further comprising:
acquiring the residual value of the electric quantity of the unmanned aerial vehicle;
comparing the residual value of the electric quantity with a preset residual electric quantity threshold value;
and when the residual value of the electric quantity is smaller than the residual electric quantity threshold value, calling the return program to return to the machine library for charging operation.
7. The park inspection method based on unmanned aerial vehicle of claim 6, wherein the calling the return program to return to the hangar for charging operations when the charge remaining value is less than the remaining charge threshold value comprises:
when the residual value of the electric quantity is smaller than the residual electric quantity threshold value, the nobody acquires a coordinate point of the current position to form power shortage coordinate information;
calling the return program;
returning to the machine library for charging operation according to the returned program;
judging whether the charging operation is finished or not;
when the charging operation is finished, acquiring power shortage coordinate information;
and returning the unmanned aerial vehicle to the corresponding coordinate point position according to the power shortage coordinate information and continuously finishing the subsequent operation.
8. The utility model provides a park system of patrolling and examining based on unmanned aerial vehicle which characterized in that includes:
the instruction receiving module (1) is used for receiving the inspection instruction;
the information acquisition module (2) is used for acquiring information of the designated area and forming acquisition information;
the information processing module (3) is used for analyzing and processing the acquired information and judging whether abnormal conditions exist or not;
the return processing module (4) is used for stopping the current operation and calling a return program to return to the machine library when no abnormal condition is judged;
and the exception handling module (5) is used for handling the exception condition when the exception condition is judged.
9. The park inspection system based on unmanned aerial vehicle of claim 8, wherein the exception handling module (5) includes:
a signal sending submodule (51) for sending a driving signal and recording the time length of sending an instruction to form driving time length,
a processing time length comparison submodule (52) for comparing the driving time length with a preset driving time length and a preset driving time length threshold;
the valve control submodule (53) is used for sending a valve opening instruction of the water inlet and outlet valve by the unmanned aerial vehicle;
the valve signal receiving submodule (54) is used for receiving the valve opening instruction of the water inlet and outlet valve and opening the water inlet and outlet valve;
the water flow duration recording submodule (55) is used for recording the water inlet and outlet time of the water inlet and outlet valve and forming the water inlet and outlet duration;
and the water flow time length comparison submodule (56) is used for comparing the water inlet and outlet time length with a preset water inlet and outlet time length threshold value.
10. The park inspection system based on unmanned aerial vehicles of claim 8, further comprising:
the electric quantity obtaining module (6) is used for obtaining the residual value of the electric quantity of the unmanned aerial vehicle;
the electric quantity comparison module (7) is used for comparing the electric quantity residual value with a preset residual electric quantity threshold value;
the coordinate acquisition module (8) is used for acquiring a coordinate point position of the current position by the nobody when the electric quantity residual value is smaller than the residual electric quantity threshold value to form power-shortage coordinate information;
and the coordinate storage module (9) is used for storing the power shortage coordinate information.
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