CN116639286A - Unmanned aerial vehicle high-altitude drop system and method for monitoring by using same - Google Patents

Abstract

The invention relates to the field of unmanned aerial vehicles, and provides an unmanned aerial vehicle high-altitude drop system and a method for monitoring by using the same, wherein the system comprises an aerostat, an unmanned aerial vehicle, first monitoring equipment, second monitoring equipment and a controller; the aerostat is internally provided with a transmitting platform for the unmanned aerial vehicle to transmit, and the unmanned aerial vehicle is arranged on the transmitting platform; the controller is electrically connected with the emission platform, the unmanned aerial vehicle, the first monitoring equipment and the second monitoring equipment, and is used for controlling the first monitoring equipment to monitor environmental data in the whole area, and when the first monitoring equipment discovers a target area in the whole area, the controller controls the emission platform to emit the unmanned aerial vehicle towards the target area, controls the unmanned aerial vehicle to glide towards the target area and utilizes the second monitoring equipment on the unmanned aerial vehicle to monitor the environmental data in the target area. The unmanned aerial vehicle high-altitude drop system provided by the invention can effectively combine rough monitoring with accurate information collection to complete real-time monitoring and accurate fixed-point monitoring of a monitored key area.

Description

A high-altitude delivery system for unmanned aerial vehicle and its monitoring method

technical field

The invention relates to unmanned aerial vehicle technology, in particular to an unmanned aerial vehicle high-altitude delivery system and a monitoring method using the same.

Background technique

A tethered balloon is not just "a balloon," but a persistent, unmanned, intelligence, surveillance and reconnaissance platform that can also carry a variety of payloads. The tethered ball is a non-powered aerostat that uses a gas lighter than air to provide lift. It is tied to the mooring facility on the ground through a cable. It has the advantages of low development cost, long dwell time, good safety and low maintenance cost. It can be equipped with electronic jamming, radar, reconnaissance, communication and other equipment, and its applications are becoming more and more extensive.

However, the existing tethered balloons can only monitor areas within a certain range, and because they are far from the ground, they cannot accurately capture environmental data in long-distance areas.

Contents of the invention

The present invention provides a high-altitude delivery system for unmanned aerial vehicles and a monitoring method using it to solve the problem that existing tethered balloons can only monitor areas within a certain range and cannot accurately capture environmental data in long-distance areas.

The present invention provides a drone high-altitude delivery system, including:

an aerostat, a drone, a first monitoring device, a second monitoring device and a controller;

The aerostat is provided with a launch platform for launching the UAV, and the UAV is set on the launch platform; the first monitoring device is set on the aerostat, and the first monitoring device is set on the aerostat. 2. The monitoring equipment is set on the drone;

The controller is electrically connected to the launch platform, the drone, the first monitoring device and the second monitoring device, and the controller is used to control the first monitoring device to monitor the environment in the entire area data, and when the first monitoring device finds a key area in the entire area, the controller controls the launching platform to launch the drone toward the key area, controls the drone to glide toward the key area and uses The second monitoring device on the drone monitors environmental data in critical areas.

According to a UAV high-altitude delivery system provided by the present invention, there are multiple UAVs and the second monitoring equipment, and the UAVs and the second monitoring equipment correspond one-to-one, and each The second monitoring equipment is provided on the drones.

According to a high-altitude delivery system for unmanned aerial vehicles provided by the present invention, the aerostat is provided with a first transceiver device that communicates with the command center, and the first transceiver device communicates with the controller and the first monitor The device is electrically connected.

According to a UAV high-altitude delivery system provided by the present invention, the UAV is provided with a second transceiver device that communicates with the command center and/or the controller, and the second transceiver device communicates with the second The monitoring device is electrically connected.

According to a UAV high-altitude delivery system provided by the present invention, the UAV is a gliding UAV, and the aerostat is a tethered balloon.

The present invention also provides a method for monitoring using the UAV high-altitude delivery system, including:

Obtain environmental data for the entire region;

Judging whether there is a key area in the entire area according to the environmental data;

If there is a key area in the entire area, the unmanned aerial vehicle is controlled to glide towards the key area, and the environmental data in the key area is monitored by the unmanned aerial vehicle.

According to a method for monitoring by the UAV high-altitude delivery system provided by the present invention, there are multiple UAVs, and if there is a key area in the entire area, the UAV is controlled to glide towards the key area, and The step of using the unmanned aerial vehicle to monitor the environmental data in the critical area includes:

If there is a key area in the entire area, then control a plurality of the drones to glide towards the key area at intervals, and use a plurality of the drones to form an information collection network to monitor the environmental data in the key area.

According to a method for monitoring using a UAV high-altitude delivery system provided by the present invention, if there are multiple key areas in the entire area, then control multiple groups of the UAVs to glide towards multiple key areas at intervals, and use Multiple unmanned aerial vehicles form multiple groups of information collection networks to monitor environmental data in multiple key areas.

The steps of controlling the unmanned aerial vehicle to glide towards the key area include:

Obtain the location of the drone and the location of key areas;

The flight state of the drone is adjusted according to the position of the drone and the position of the key area.

According to a method for monitoring using a UAV high-altitude delivery system provided by the present invention, the step of adjusting the flight state of the UAV according to the position of the UAV and the position of a key area includes:

If the distance between the drone and the key area is greater than the preset distance, then control the drone to glide in a straight line;

If the distance between the UAV and the key area is less than or equal to the preset distance, the UAV is controlled to glide in a manner of hovering and descending.

The UAV high-altitude delivery system and monitoring method provided by the present invention can not only monitor the environmental data in the entire area through the first monitoring equipment on the aerostat, but also monitor the entire area through the controller to control the first monitoring equipment. The environmental data in the area, and when the first monitoring device finds a key area in the entire area, the controller controls the launch platform to launch the UAV towards the key area, controls the UAV to glide towards the key area and utilizes the second key area on the UAV. Monitoring equipment monitors environmental data in key areas, which can effectively combine rough monitoring with precise information collection, and complete real-time monitoring and precise point-of-point monitoring of monitored key areas.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

Fig. 1 is one of schematic diagrams of the UAV high-altitude delivery system provided by the present invention;

Fig. 2 is the second schematic diagram of the UAV high-altitude delivery system provided by the present invention;

Fig. 3 is the third schematic diagram of the UAV high-altitude delivery system provided by the present invention;

Fig. 4 is the schematic flow chart of the method for monitoring by the UAV high-altitude delivery system provided by the present invention;

Fig. 5 is a schematic diagram of the guidance process provided by the present invention;

Fig. 6 is a schematic diagram of a simplified lateral guiding circuit provided by the present invention.

Reference signs:

100. Aerostat; 200. UAV; 300. First monitoring equipment; 400. Second monitoring equipment; 500. Controller; 600. Launch platform; 700. Entire area; 800. Key area; 810. Second Area; 820, first area; 900, command center.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

The drone high-altitude delivery system provided by the present invention will be described below in conjunction with FIGS. 1 to 3 .

In one embodiment, as shown in FIG. 1 and FIG. 2 , the UAV high-altitude delivery system includes: an aerostat 100 , a UAV 200 , a first monitoring device 300 , a second monitoring device 400 and a controller 500 .

In this embodiment, the aerostat 100 is provided with a launching platform 600 for launching the UAV 200 , the UAV 200 is set on the launching platform 600 , and the launching platform 600 is used for launching the UAV 200 . The first monitoring device 300 is arranged on the aerostat 100 , and the first monitoring device 300 is used for acquiring environmental data on the aerostat 100 . The second monitoring device 400 is set on the UAV 200 , and the second monitoring device 400 is used to acquire environmental data on the UAV 200 .

Wherein, the controller 500 is the central control device of the entire aerostat 100 and the UAV 200, and the controller 500 is electrically or communicatively connected with the launch platform 600, the UAV 200, the first monitoring device 300 and the second monitoring device 400 , the controller 500 is used to control the first monitoring device 300 to monitor the environmental data in the entire area 700, and when the first monitoring device 300 finds a critical area 800 in the entire area 700, the controller 500 controls the launch platform 600 to move towards the critical area 800 Launch the UAV 200 , control the UAV 200 to glide towards the key area 800 and use the second monitoring device 400 on the UAV 200 to monitor the environmental data in the key area 800 . In addition, the controller 500 can be electrically connected with the aerostat 100 as required, and the up and down floating positions of the aerostat 100 can be adjusted by the controller 500 to adjust the monitoring area of the first monitoring device 300 .

The first monitoring device 300 and the second monitoring device 400 may use a camera or a video camera as required. For example, when a user needs to obtain an image, the first monitoring device 300 and the second monitoring device 400 may use a camera to capture and obtain image data. When the user needs real-time continuous data, the first monitoring device 300 and the second monitoring device 400 can use cameras to capture real-time continuous video data.

Specifically, after the aerostat 100 lifts off, the first monitoring device 300 on the aerostat 100 starts to work, and the controller 500 can control the first monitoring device 300 to monitor the environmental data in the entire area 700 . The controller 500 judges whether there is a key area 800 (target area or abnormal area) in the entire area 700 according to the environment data. If the controller 500 does not find the critical area 800 in the entire area 700 according to the environmental data, the first monitoring device 300 continues to monitor the environmental data in the entire area 700 .

If the controller 500 finds that there is a key area 800 in the entire area 700 according to the environmental data, then the position of the key area 800 is obtained according to the environmental data, and the launch platform 600 is controlled to launch the UAV 200 towards the key area. After the UAV 200 is launched, the controller 500 remotely controls the UAV 200 to glide towards the key area 800 , and the second monitoring device 400 on the UAV 200 monitors the environmental data in the key area 800 during the gliding process of the UAV 200 . That is to say, the first monitoring device 300 on the aerostat 100 can effectively monitor roughly, and the second monitoring device 400 on the UAV 200 can collect accurate information, thereby effectively combining rough monitoring and accurate information collection to complete Real-time monitoring and precise fixed-point monitoring of the monitored key area 800.

The UAV high-altitude delivery system provided by the embodiment of the present invention can not only monitor the environmental data in the entire area 700 through the first monitoring device 300 on the aerostat 100, but also can control the first monitoring device 300 to monitor the entire area 700 through the controller 500. Environmental data in the area 700, and when the first monitoring device 300 finds a key area 800 in the entire area 700, the controller 500 controls the launch platform 600 to launch the UAV 200 towards the key area 800, and controls the UAV 200 to move towards the key area 800 glides and uses the second monitoring device 400 on the UAV 200 to monitor the environmental data in the key area 800, which can effectively combine rough monitoring with accurate information collection, and complete real-time monitoring and precise fixed-point monitoring of the monitored key area 800.

In another embodiment, as shown in FIG. 1 and FIG. 2 , there are multiple drones 200 and second monitoring devices 400 , and there is a one-to-one correspondence between the drones 200 and the second monitoring devices 400 . The machine 200 is equipped with a second monitoring device 400 . Since there are multiple drones 200 , when the key area 800 is discovered, the multiple drones 200 can be controlled to monitor the environment data in the key area 800 using the corresponding second monitoring device 400 .

Specifically, after the aerostat 100 lifts off, the first monitoring device 300 on the aerostat 100 starts to work, and the controller 500 can control the first monitoring device 300 to monitor the environmental data in the entire area 700 . The controller 500 judges whether there is a key area 800 (target area or abnormal area) in the entire area 700 according to the environment data. If the controller 500 does not find the critical area 800 in the entire area 700 according to the environmental data, the first monitoring device 300 continues to monitor the environmental data in the entire area 700 .

If the controller 500 finds that there is a key area 800 in the entire area 700 according to the environmental data, then obtain the position of the key area 800 according to the environmental data, and control the launching platform 600 to launch a preset number of drones 200 towards the key area at intervals. After the drones 200 are launched, the controller 500 remotely controls the multiple drones 200 to glide toward the key area 800. During the gliding process of the multiple drones 200, the second monitoring device 400 on the multiple drones 200 consists of An information collection network that closely monitors environmental data within the critical area 800.

In order to realize the control of structures such as the aerostat 100 and the unmanned aerial vehicle 200, the aerostat 100 is provided with a first transceiver device that communicates with the command center 900, and the first transceiver device communicates with the controller 500 and the first monitoring device 300 electrical connection.

During the working process, the control command issued by the command center 900 can be received by the first transceiver device, and the first transceiver state forwards the control command to the controller 500, and the controller 500 executes the corresponding command after reading the control command, so as to realize the control of wireless Remote control of man-machine high-altitude delivery system. At the same time, the environmental data of the entire area 700 monitored by the first monitoring device 300 can be transmitted to the command center 900 through the first transceiver device, so that the command center 900 can obtain the environmental data of the entire area 700 in real time.

Correspondingly, the UAV 200 is provided with a second transceiver device that communicates with the command center 900 or the controller 500, or the UAV 200 is provided with a second transceiver device that is simultaneously communicatively connected with the command center 900 and the controller 500 , the second transceiver device is electrically connected to the second monitoring device 400 .

During the working process, the control command issued by the command center 900 can be received by the second transceiver device, and the UAV 200 reads the control command and executes the corresponding command, so as to realize the remote control of the UAV 200 . At the same time, the environmental data of the key area 800 monitored by the second monitoring device 400 can be transmitted to the command center 900 through the second transceiver device, so that the command center 900 can obtain the environmental data in the key area 800 in real time.

Based on the above embodiments, in one embodiment, as shown in FIG. 1 and FIG. 2 , the aerostat 100 is a tethered balloon, and the tethered balloon is tethered to ground mooring facilities by cables. The lift of the tethered balloon comes from the buoyancy of the low-density gas, and the power supply can be provided by the ground equipment through the tether. Therefore, the tethered balloon can stay in the air for a long time when there is no drastic change in the meteorological environment. The resident time can reach dozens of days. Since the energy can be continuously supplied from the ground, there is no need to carry energy on the tethered balloon. This advantage of tethered balloons is unmatched by other fixed-wing aircraft platforms. In addition to the long dwell time, the tethered balloon system can easily rise to an altitude of 3km. Compared with the ground surveillance system, it is less affected by the curvature of the earth and has a wider coverage. When the balloon lift-off height reaches 3km, the monitoring range can reach 200km, and the monitoring distance is 5-6 times that of ground equipment.

The drone 200 is a small gliding drone. The small unmanned glider is similar in size to a small flying bird. It can be released in large quantities and in a wide area through the launch platform 600 on the aerostat 100, and it can fly into key areas by gliding. , a miniature information collection platform with high landing accuracy. Since the external dimensions are far smaller than traditional UAVs, a large number of UAVs can be deployed to provide guiding information for search and rescue in larger areas. Small drones can be equipped with small cameras or other monitoring equipment, and complemented with tethered balloons to provide more accurate monitoring and search information. The fuselage shell made of light and high-strength materials can fully absorb the collision energy during landing and protect the main sensors from damage. Man-machine development costs. In addition, the UAV 200 is also equipped with active and passive temperature control elements, thermal insulation, and waterproof structures, so it can adapt to various environments including scorching heat, drought, cold, and humidity. More importantly, through the communication among the drones 200 scattered in different areas in a large area, a powerful information network can be formed, and the accuracy of intelligence collection can be further improved through real-time data update and collaboration.

The tethered balloon can stay in the air for a long time at a fixed point, and the tethered balloon can be used to carry a small UAV to a certain height, and the ground observation system of the tethered balloon can realize live surveillance within the scope of the reconnaissance area. For an emergency situation, a small drone can be launched to fly to the target location to investigate the situation on the spot.

For example, the UAV high-altitude delivery system is applied to fire forecasting and rescue, search for missing persons and other search and rescue activities. The tethered balloon is equipped with the first monitoring device 300, and the first monitoring device 300 monitors in real time in a large area. When an abnormal situation occurs, the tethered balloon launches a batch of small unmanned gliders in the direction according to the abnormal situation orientation of the first monitoring device 300 to accurately locate the target location (key area). The small gliding drone glides and flies around the target location to collect information on the status of the target location. At the same time, multiple small gliders form an information collection network, which can accurately analyze and locate the situation of the target location. This unmanned close-range information monitoring can provide information guidance for rescue. It also provides accurate on-site in-situ measurement data for the situation where it is inconvenient for personnel to enter the site.

In addition, this small gliding drone can also conduct routine monitoring of key areas in addition to the above-mentioned emergency information collection. Tethered balloons can collect all-round information in different directions at certain time intervals. The tethered balloon is combined with a small gliding drone, and the tethered balloon platform completes a large-scale environmental monitoring, and the monitoring accuracy does not need to be too high. Small gliding drones are precisely deployed and controlled for certain locations. Rough monitoring is combined with precise information collection to complete real-time monitoring and precise point-of-point monitoring of monitored key areas.

The method for monitoring by the high-altitude delivery system of the UAV provided by the present invention is described below in conjunction with FIG. 4 . The high-altitude delivery system of the UAV is shown in FIGS. 1 to 3 , and will not be repeated here.

As shown in Figure 4, the method for monitoring using the UAV high-altitude delivery system specifically includes the following steps:

Step S101: Obtain environmental data in the entire area.

Step S102: Judging whether there is a key area in the entire area according to the environmental data.

Step S103: If there is a key area in the entire area, control the UAV to glide towards the key area, and use the UAV to monitor the environmental data in the key area.

Specifically, after the aerostat 100 lifts off, the first monitoring device 300 on the aerostat 100 starts to work, and the controller 500 can control the first monitoring device 300 to monitor the environmental data in the entire area 700 . The controller 500 judges whether there is a key area 800 (target area or abnormal area) in the entire area 700 according to the environment data. If the controller 500 does not find the critical area 800 in the entire area 700 according to the environmental data, the first monitoring device 300 continues to monitor the environmental data in the entire area 700 .

If the controller 500 finds that there is a key area 800 in the entire area 700 according to the environmental data, then the position of the key area 800 is obtained according to the environmental data, and the launch platform 600 is controlled to launch the UAV 200 towards the key area. After the UAV 200 is launched, the controller 500 remotely controls the UAV 200 to glide towards the key area 800 , and the second monitoring device 400 on the UAV 200 monitors the environmental data in the key area 800 during the gliding process of the UAV 200 . That is to say, the first monitoring device 300 on the aerostat 100 can effectively monitor roughly, and the second monitoring device 400 on the UAV 200 can collect accurate information, thereby effectively combining rough monitoring and accurate information collection to complete Real-time monitoring and precise fixed-point monitoring of the monitored key area 800.

The method for monitoring using the UAV high-altitude delivery system provided by the embodiment of the present invention can not only monitor the environmental data in the entire area 700 through the first monitoring device 300 on the aerostat 100, but also control the first monitoring device 300 through the controller 500. The monitoring device 300 monitors the environmental data in the entire area 700, and when the first monitoring device 300 finds a key area 800 in the entire area 700, the controller 500 controls the launching platform 600 to launch the drone 200 towards the key area 800, and controls the unmanned The UAV 200 glides towards the key area 800 and uses the second monitoring device 400 on the UAV 200 to monitor the environmental data in the key area 800, which can effectively combine rough monitoring with accurate information collection, and complete the real-time monitoring and monitoring of the monitored key area 800. Precise point monitoring.

In one example, when there are multiple UAVs 200, step S103: if there is a key area in the entire area, control the UAV to glide towards the key area, and use the UAV to monitor the environmental data in the key area The steps include: if there is a key area 800 in the entire area 700, then control multiple drones 200 to glide toward the key area 800 at intervals, and use multiple drones 200 to form an information collection network to monitor the environmental data in the key area 800 .

Specifically, after the aerostat 100 lifts off, the first monitoring device 300 on the aerostat 100 starts to work, and the controller 500 can control the first monitoring device 300 to monitor the environmental data in the entire area 700 . The controller 500 judges whether there is a key area 800 (target area or abnormal area) in the entire area 700 according to the environment data. If the controller 500 does not find the critical area 800 in the entire area 700 according to the environmental data, the first monitoring device 300 continues to monitor the environmental data in the entire area 700 .

As shown in Figure 1, if the controller 500 finds that there is a key area 800 in the entire area 700 according to the environmental data, then the position of the key area 800 is obtained according to the environmental data, and the launch platform 600 is controlled to launch a preset number of drones towards the key area at intervals 200, after the preset number of unmanned aerial vehicles 200 are launched, the controller 500 remotely controls the multiple unmanned aerial vehicles 200 to glide towards the key area 800, and during the gliding process of the multiple unmanned aerial vehicles 200, the The second monitoring device 400 forms an information collection network to closely monitor the environmental data in the key area 800 .

As shown in Figure 2, if there are multiple key areas 800 in the entire area 700, control multiple drones 200 in groups to glide towards multiple key areas 800 at intervals, and use multiple drones 200 to form multiple groups of information collection The network monitors environmental data within a plurality of key areas 800.

In an example, as shown in Figure 3 and Figure 5, the steps of controlling the drone to glide towards the key area include:

Step S104: Obtain the position of the drone and the position of the key area.

Step S105: Adjust the flight state of the drone according to the location of the drone and the location of key areas.

Specifically, after the aerostat 100 lifts off, the first monitoring device 300 on the aerostat 100 starts to work, and the controller 500 can control the first monitoring device 300 to monitor the environmental data in the entire area 700 . The controller 500 judges whether there is a key area 800 in the entire area 700 according to the environmental data, and if the controller 500 finds that there is a key area 800 in the entire area 700 according to the environmental data, then obtains the position of the key area 800 according to the environmental data, and controls the launching platform 600 to move toward The UAV 200 is launched in the key area. After the UAV 200 is launched, the controller 500 remotely controls the UAV 200 to glide towards the key area 800. During the gliding process, the UAV 200 obtains the position of the UAV 200. The position of the man-machine 200 and the position of the key area 800 adjust the flight state of the UAV 200 .

For example, if the distance between the UAV 200 and the key area 800 is greater than the preset distance, and the UAV 200 is in the first area 820 at this time, then the UAV 200 is controlled to glide in a straight line; The distance of the area 800 is less than or equal to the preset distance, and the UAV 200 is in the second area 810 at this time, then the UAV 200 is controlled to glide in a manner of circling and descending. During the gliding process of the UAV 200 in a hovering manner, the second monitoring device 400 on the UAV 200 monitors the environmental data in the key area 800 .

It should be noted that after the UAV 200 leaves the aerostat 100, the UAV 200 flies to the pre-set landing point by means of gliding flight, and its landing control accuracy is directly related to the selection of the flight control scheme and flight control strategy. .

Based on the overall design of the UAV 200, the UAV 200 first enters a stable gliding state after being launched, and then turns on guidance to fly to the area where the key area 800 is located. Steady gliding flight in the vertical plane, guided flight in the horizontal plane, the basis of dynamic control is the banked turn method, and the speed vector of the airframe always points to the key area 800. If the dynamic response process of the control loop and the positive and negative transformation of kinematics and dynamics are not considered, the simplified lateral guidance loop is shown in Figure 6. So far, the design of the guidance law is transformed into the design of the equivalent control loop.

In order to improve the accuracy of landing control, it is necessary to design a reasonable and effective guidance law. This embodiment adopts the guidance strategy of straight-line flight and circling descent, as shown in Figure 3 and Figure 5, when the ball-borne UAV 200 is far away from the key area 800, after the circular area of radius N ₁ R, a straight line is used. The way of flying is close to the key area 800 . After entering a circular area with the key area 800 as the center and radius N ₂ R, the UAV 200 lands near the key area 800 in a hovering manner.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than 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 that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; 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 of the various embodiments of the present invention.

Claims (10)

1. A drone high-altitude delivery system, characterized in that it comprises: an aerostat, a drone, a first monitoring device, a second monitoring device and a controller; The aerostat is provided with a launch platform for launching the UAV, and the UAV is set on the launch platform; the first monitoring device is set on the aerostat, and the first monitoring device is set on the aerostat. 2. The monitoring equipment is set on the drone; The controller is electrically connected to the launch platform, the drone, the first monitoring device and the second monitoring device, and the controller is used to control the first monitoring device to monitor the environment in the entire area data, and when the first monitoring device finds a key area in the entire area, the controller controls the launching platform to launch the drone toward the key area, controls the drone to glide toward the key area and uses The second monitoring device on the drone monitors environmental data in critical areas. 2. The UAV high-altitude delivery system according to claim 1, wherein the UAV and the second monitoring device are provided with multiple, and the UAV and the second monitoring device In one-to-one correspondence, each of the drones is provided with the second monitoring device. 3. The high-altitude delivery system for unmanned aerial vehicles according to claim 1, wherein the aerostat is provided with a first transceiver device that communicates with the command center, and the first transceiver device communicates with the controller It is electrically connected with the first monitoring device. 4. The drone high-altitude delivery system according to claim 3, characterized in that, the drone is provided with a second transceiver connected to the command center and/or the controller in communication, and the second transceiver The device is electrically connected with the second monitoring device. 5. The drone high-altitude delivery system according to any one of claims 1-4, wherein the drone is a gliding drone, and the aerostat is a tethered balloon. 6. A method for monitoring using the UAV high-altitude delivery system according to any one of claims 1-5, characterized in that, comprising: Obtain environmental data for the entire region; Judging whether there is a key area in the entire area according to the environmental data; If there is a key area in the entire area, the unmanned aerial vehicle is controlled to glide towards the key area, and the environmental data in the key area is monitored by the unmanned aerial vehicle. 7. The method for monitoring by the UAV high-altitude delivery system according to claim 6, wherein the UAV is provided with multiple, and if there is a key area in the whole area, the UAV is controlled to move towards The steps of gliding in the key area and using the drone to monitor the environmental data in the key area include: If there is a key area in the entire area, then control a plurality of the drones to glide towards the key area at intervals, and use a plurality of the drones to form an information collection network to monitor the environmental data in the key area. 8. The method for monitoring by the UAV high-altitude delivery system according to claim 7, is characterized in that, if there are a plurality of key areas in the whole area, then control a plurality of said UAV groupings and move towards a plurality of key areas at intervals respectively. Regional gliding, and use multiple drones to form multiple groups of information collection networks to monitor environmental data in multiple key areas. 9. The method for monitoring by the UAV high-altitude delivery system according to claim 6, wherein the step of controlling the UAV to glide towards the key area includes: Obtain the location of the drone and the location of key areas; The flight state of the drone is adjusted according to the position of the drone and the position of the key area. 10. The method for monitoring by the UAV high-altitude delivery system according to claim 9, characterized in that, the step of adjusting the flight state of the UAV according to the position of the UAV and the position of the key area ,include: If the distance between the UAV and the key area is greater than the preset distance, then control the UAV to glide in a straight line; If the distance between the UAV and the key area is less than or equal to the preset distance, the UAV is controlled to glide in a manner of hovering and descending.