A forest disaster monitoring aircraft based on STM32 and Raspberry Pi

Abstract

The present invention relates to the technical field of unmanned aerial vehicle (UAV) monitoring, and particularly to a forest disaster monitoring aircraft based on STM32 and Raspberry Pi, comprising: a UAV body; a power supply which is arranged on the UAV body and used to provide electrical energy for the operation of the UAV; a power module which is connected to the power supply and used to provide power for the flight of the UAV main body; a video transmission module for shooting forest images and transmitting them to the corresponding module; a detection module for detecting the offset angle of the UAV and detecting the wind speed in the area where the UAV is located; a central control module for adjusting the rotational speed of the corresponding motor to the corresponding rotational speed according to the wind speed in the area where the UAV is located, and adjusting the power distribution ratio of the power module to the corresponding distribution ratio according to the power consumption speed of the UAV during horizontal forward movement; the present invention realizes the improvement of the monitoring efficiency and monitoring accuracy of the UAV for forest disasters.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) disaster monitoring, and particularly to a forest disaster monitoring aircraft based on STM32 and Raspberry Pi. Background Art

[0002] In the prior art, methods for forest fire detection include observation tower detection, satellite detection, manual patrol, etc. The detection range of the observation tower is small, and there is a problem of monitoring dead angles. The method of manual patrol usually requires a large amount of labor and is prone to danger due to environmental factors. Although satellite detection has a wide detection range, it has a high startup cost, and the monitoring effect is easily affected by weather, cloud thickness, orbital period, etc. The forest fire prevention method through manual patrol is inefficient and prone to danger. UAVs have high mobility and can cover areas at different heights and positions at a relatively low cost. Combining UAVs with deep learning technology can effectively help people detect fires in a timely manner. This model can be used for real-time monitoring of forest fires, which not only improves the prevention ability of forest fires but also enhances the automation and digital level of forest fire early warning.

[0003] Chinese Patent Publication No.: CN111580425A discloses a system and method suitable for forest fire risk monitoring, which can realize the autonomous flight of the UAV and timely capture video and image data over the forest. The forest fire is monitored in real time through a deep learning artificial intelligence algorithm. It includes a UAV control system, a data processing and communication system, and a remote upper computer management system; data interaction can be carried out between the UAV control system and the data processing and communication system. The UAV control system transmits the collected images and flight parameters to the remote upper computer management system in real time, and the remote upper computer management system realizes the control of the UAV flight; thus, the system and method for forest fire risk monitoring have the following problems: due to wind and forest fire conditions changes, the monitoring accuracy and stability of the UAV disaster monitoring system are reduced. Summary of the Invention

[0004] Therefore, the present invention provides a forest disaster monitoring aircraft based on STM32 and Raspberry Pi to overcome the problem that the monitoring accuracy and stability of the UAV disaster monitoring system are reduced due to wind and forest fire conditions changes in the prior art.

[0005] To achieve the above object, the present invention provides a forest disaster monitoring aircraft based on STM32 and Raspberry Pi, including: a drone body; a power supply, which is arranged on the drone body to provide electrical energy for the operation of the drone; a power module, which is connected to the power supply to provide power for the flight of the drone body; including 4 motors respectively arranged at the position of the drone body with an adjacent interval of 90 degrees; a video transmission module, which is connected to the power supply, including a camera connected to the power supply to obtain corresponding forest image data and a transmitting component connected to the camera to send the corresponding forest image data to the receiving end; a detection module, which is connected to the power supply, including a gyroscope arranged on the drone body to detect the offset angle of the drone and a wind speed sensor arranged on the drone body to detect the wind speed of the area where the drone is located; a central control module, which is respectively connected to the power supply, the power module, the video transmission module and the detection module, to adjust the flight height of the drone to the corresponding flight height according to the offset angle of the drone, and, to secondarily adjust the flight height of the drone to the second corresponding flight height according to the clarity of the image obtained by the camera, and, to adjust the rotational speed of the motor in the corresponding offset direction to the corresponding rotational speed according to the wind speed of the area where the drone is located, and, to adjust the power distribution ratio of the power module to the corresponding distribution ratio according to the power consumption speed of the drone during horizontal forward movement.

[0006] Further, the central control module has three determination methods for determining whether the stability of the drone is within the allowable range according to the offset angle of the drone detected by the gyroscope, where

[0007] The first determination method is that the central control module determines that the stability of the drone is within the allowable range under the preset first offset angle condition;

[0008] The second determination method is that the central control module determines that the stability of the drone is lower than the allowable range under the preset second offset angle condition, determines that the degree of tree breakage in the space area where the drone is located exceeds the allowable range, and adjusts the flight height of the drone to the corresponding flight height by calculating the difference between the offset angle of the drone and the preset first offset angle;

[0009] The third determination method is that the central control module determines that the stability of the drone is lower than the allowable range under the preset third offset angle condition, preliminarily determines that the degree of interference of the wind on the drone exceeds the allowable range, and makes a secondary determination on whether the degree of interference of the wind on the drone exceeds the allowable range according to the wind speed of the area where the drone is located detected by the wind speed sensor;

[0010] Among them, the preset first offset angle condition is that the offset angle of the drone is less than or equal to the preset first offset angle; the preset second offset angle condition is that the offset angle of the drone is greater than the preset first offset angle and less than or equal to the preset second offset angle; the preset third offset angle condition is that the offset angle of the drone is greater than the preset second offset angle; the preset first offset angle is less than the preset second offset angle.

[0011] Further, the central control module determines three types of adjustment methods for the flight height of the drone according to the difference between the offset angle of the drone and the preset first offset angle under the preset second offset angle condition, where

[0012] The first type of adjustment method is that the central control module adjusts the flight height of the drone to the preset flight height under the preset first offset angle difference condition;

[0013] The second type of adjustment method is that the central control module uses the preset first flight height adjustment coefficient to adjust the flight height of the drone to the first flight height under the preset second offset angle difference condition;

[0014] The third type of adjustment method is that the central control module uses the preset second flight height adjustment coefficient to adjust the flight height of the drone to the second flight height under the preset third offset angle difference condition;

[0015] Among them, the preset first offset angle difference condition is that the difference between the offset angle of the drone and the preset first offset angle is less than or equal to the preset first offset angle difference; the preset second offset angle difference condition is that the difference between the offset angle of the drone and the preset first offset angle is greater than the preset first offset angle difference and less than or equal to the preset second offset angle difference; the preset third offset angle difference condition is that the difference between the offset angle of the drone and the preset first offset angle is greater than the preset second offset angle difference; the preset first offset angle difference is less than the preset second offset angle difference, and the preset first flight height adjustment coefficient is less than the preset second flight height adjustment coefficient.

[0016] Further, the central control module determines three types of secondary determination methods for whether the interference degree of the wind force on the drone exceeds the range according to the wind speed of the area where the drone is located detected by the wind speed sensor, where

[0017] The first type of secondary determination method is that the central control module determines that the interference degree of the wind force on the drone is within the allowable range under the preset first wind speed condition;

[0018] The second type of secondary determination method is that when the central control module determines that the interference degree of the wind force on the drone exceeds the allowable range under the preset second wind speed condition, it adjusts the motor speed in the corresponding offset direction to the corresponding speed by calculating the difference between the wind speed in the area where the drone is located and the preset first wind speed;

[0019] The third type of secondary determination method is that when the central control module determines that the interference degree of the wind force on the drone exceeds the allowable range under the preset third wind speed condition, it controls the drone to return.

[0020] Among them, the preset first wind speed condition is that the wind speed in the area where the drone is located is less than or equal to the preset first wind speed; the preset second wind speed condition is that the wind speed in the area where the drone is located is greater than the preset first wind speed and less than or equal to the preset second wind speed; the preset third wind speed condition is that the wind speed in the area where the drone is located is greater than the preset second wind speed; the preset first wind speed is less than the preset second wind speed.

[0021] Furthermore, the central control module determines three types of adjustment methods for the motor speed in the corresponding offset direction according to the difference between the wind speed in the area where the drone is located and the preset first wind speed. Among them,

[0022] The first type of speed adjustment method is that when the central control module is under the preset first wind speed difference condition, it adjusts the motor speed in the corresponding offset direction to the preset motor speed;

[0023] The second type of speed adjustment method is that when the central control module is under the preset second wind speed difference condition, it uses the preset first speed adjustment coefficient to adjust the motor speed in the corresponding offset direction to the first speed;

[0024] The third type of speed adjustment method is that when the central control module is under the preset third wind speed difference condition, it uses the preset second speed adjustment coefficient to adjust the motor speed in the corresponding offset direction to the second speed;

[0025] Among them, the preset first wind speed difference condition is that the difference between the wind speed in the area where the drone is located and the preset first wind speed is less than or equal to the preset first wind speed difference; the preset second wind speed difference condition is that the difference between the wind speed in the area where the drone is located and the preset first wind speed is greater than the preset second wind speed difference and less than or equal to the preset second wind speed difference; the preset third wind speed difference condition is that the difference between the wind speed in the area where the drone is located and the preset first wind speed is greater than the preset second wind speed difference; the preset first wind speed difference is less than the preset second wind speed difference.

[0026] Furthermore, the central control module determines three types of determination methods for whether the flight altitude of the drone is within the allowable range according to the clarity of the image obtained by the camera. Among them,

[0027] The first type of flight altitude determination method is that the central control module determines that the flight altitude of the drone exceeds the allowable range under the preset first clarity condition, determines that there is a device failure in the drone, and issues a maintenance notice for the device failure of the drone;

[0028] The second type of flight altitude determination method is that the central control module determines that the flight altitude of the drone exceeds the allowable range under the preset second clarity condition, and adjusts the flight altitude of the drone to the second corresponding flight altitude by calculating the difference between the image clarity and the preset first image clarity;

[0029] The third type of flight altitude determination method is that the central control module determines that the flight altitude of the drone is within the allowable range under the preset third clarity condition;

[0030] Among them, the preset first clarity condition is that the image clarity is less than or equal to the preset first image clarity; the preset second clarity condition is that the image clarity is greater than the preset first image clarity and less than or equal to the preset second image clarity; the preset third clarity condition is that the image clarity is greater than the preset second image clarity; the preset first image clarity is less than the preset second image clarity.

[0031] Further, the central control module determines three types of secondary adjustment methods for the flight altitude of the drone according to the difference between the image clarity and the preset first image clarity under the preset second clarity condition, where,

[0032] The first type of flight altitude secondary adjustment method is that the central control module adjusts the flight altitude of the drone to the preset flight altitude under the preset first clarity difference condition;

[0033] The second type of flight altitude secondary adjustment method is that the central control module adjusts the flight altitude of the drone to the third flight altitude using the preset fourth flight altitude adjustment coefficient under the preset second clarity difference condition;

[0034] The third type of flight altitude secondary adjustment method is that the central control module adjusts the flight altitude of the drone to the fourth flight altitude using the preset third flight altitude adjustment coefficient under the preset third clarity difference condition;

[0035] Among them, the preset first clarity difference condition is that the difference between the image clarity and the preset first image clarity is less than or equal to the preset first image clarity difference; the preset second clarity difference condition is that the difference between the image clarity and the preset first image clarity is greater than the preset first image clarity difference and less than or equal to the preset second image clarity difference; the preset third clarity difference condition is that the difference between the image clarity and the preset first image clarity is greater than the preset second image clarity difference; the preset first image clarity difference is less than the preset second image clarity difference, and the preset third flight altitude adjustment coefficient is less than the preset fourth flight altitude adjustment coefficient.

[0036] Further, there are three determination methods for the central control module to determine whether the power consumption degree of the resistance is within the allowable range according to the power consumption speed during horizontal advancement, where

[0037] The first type of consumption degree determination method is that the central control module determines that the power consumption degree of the drone is within the allowable range under the preset first consumption speed condition;

[0038] The second type of consumption degree determination method is that the central control module determines that the power consumption degree of the resistance exceeds the allowable range under the preset second consumption speed condition, and adjusts the power distribution ratio of the power module to the corresponding value by calculating the difference between the power consumption speed and the preset first power consumption speed;

[0039] The third type of consumption degree determination method is that the central control module determines that the power consumption degree of the resistance exceeds the allowable range under the preset third consumption speed condition, determines that there is a power supply fault in the drone, and issues a maintenance notice for the power supply fault of the drone;

[0040] Among them, the preset first consumption speed condition is that the power consumption speed of the drone is less than or equal to the preset first power consumption speed; the preset second consumption speed condition is that the power consumption speed of the drone is greater than the preset first power consumption speed and less than or equal to the preset second power consumption speed; the preset third consumption speed condition is that the power consumption speed of the drone is greater than the preset second power consumption speed; the preset first power consumption speed is less than the preset second power consumption speed.

[0041] Further, the central control module determines three adjustment methods for the power distribution ratio of the power module according to the difference between the power consumption speed of the drone during horizontal advancement and the preset first consumption speed, where

[0042] The first type of ratio adjustment method is that the central control module adjusts the power distribution ratio of the power module to the preset power distribution ratio under the preset first consumption speed difference condition;

[0043] The second type of proportion adjustment method is that the central control module adjusts the power distribution proportion to the first power distribution proportion by using a preset first power distribution proportion adjustment coefficient under a preset second consumption speed difference condition;

[0044] The second type of proportion adjustment method is that the central control module adjusts the power distribution proportion to the second power distribution proportion by using a preset second power distribution proportion adjustment coefficient under a preset third consumption speed difference condition;

[0045] Among them, the preset first power distribution proportion adjustment coefficient is smaller than the preset second power distribution proportion adjustment coefficient.

[0046] Further, the preset first consumption speed difference condition is that the difference between the power consumption speed and the preset first power consumption speed is less than or equal to the preset first power consumption speed difference;

[0047] The preset second consumption speed difference condition is that the difference between the power consumption speed and the preset first power consumption speed is greater than the preset first power consumption speed difference and less than or equal to the preset second power consumption speed difference;

[0048] The preset third consumption speed difference condition is that the difference between the power consumption speed and the preset first power consumption speed is greater than the preset second power consumption speed difference; the preset first power consumption speed difference is smaller than the preset second power consumption speed difference.

[0049] Compared with the prior art, the beneficial effects of the present invention are as follows. The aircraft of the present invention is provided with a power supply module, a power module, a detection module and a central control module. When monitoring forest disasters, the power supply provides operating electrical energy for the power module, the detection module and the central control module; the power module includes four motors, and the motors are operated by the electrical energy provided by the power supply, and the lifting process and tilting process of the unmanned aerial vehicle are controlled by the central control module; the video transmission module includes a camera and a transmitting component for sending corresponding forest image data to the receiving end. In the normal state, the video transmission module operates according to preset parameters. When the power supply is insufficient, the central control module controls to reduce the power proportion allocated to the video transmission module for the normal operation of the power module; the detection module is provided with a wind speed sensor for detecting the wind speed. When the unmanned aerial vehicle monitors forest disasters, the detection module transmits the wind speed data to the central control module, and the central control module sends an avoidance signal to the power module; the central control module is the core module of the unmanned aerial vehicle monitoring system. After receiving the information sent by other modules, it makes a judgment and sends an adjustment signal to the corresponding module, realizing the improvement of the monitoring efficiency and monitoring accuracy of the unmanned aerial vehicle for forest disasters.

[0050] Furthermore, by setting a preset first offset angle and a preset second offset angle, the aircraft of the present invention determines whether the UAV is stable based on the offset angle of the UAV, improving the obstacle avoidance ability of the UAV monitoring system and further enhancing the monitoring efficiency and accuracy of the UAV for forest disaster situations.

[0051] Furthermore, the aircraft of the present invention sets a preset first offset angle difference, a preset second offset angle difference, a preset first flight altitude, and a preset first flight altitude. Based on the difference between the measured value of the offset angle by the gyroscope and the preset offset angle, the flight altitude of the UAV is adjusted to the corresponding altitude, reducing the impact of broken trees in the forest on the flight of the UAV and further enhancing the monitoring efficiency and accuracy of the UAV for forest disaster situations.

[0052] Furthermore, the aircraft of the present invention sets a preset first wind speed and a preset second wind speed. The wind speed sensor measures the wind speed around the UAV and determines whether the impact of the wind speed on the UAV exceeds the range, reducing the impact of wind on the UAV and further enhancing the monitoring efficiency and accuracy of the UAV for forest disaster situations.

[0053] Furthermore, the aircraft of the present invention sets a preset first wind speed difference and a preset second wind speed difference. The central control module calculates the difference between the wind speed in the area where the UAV is located and the preset first wind speed, calculates the adjustment that the corresponding motor should make to reach the allowable range, and adjusts the rotation speed of the corresponding motor so that the UAV can fly normally under the corresponding wind speed adjustment, further enhancing the monitoring efficiency and accuracy of the UAV for forest disaster situations.

[0054] Furthermore, the aircraft of the present invention sets a preset first image clarity and a preset second image clarity. An adjustment of the UAV's altitude may change the clarity of the photo. By determining whether the clarity of the taken photo is within the allowable range, it is determined whether an adjustment of the UAV's flight altitude is correct, further enhancing the monitoring efficiency and accuracy of the UAV for forest disaster situations.

[0055] Furthermore, the aircraft of the present invention sets a preset first image clarity difference and a preset second image clarity difference. The central control module adjusts the altitude of the UAV by comparing whether the clarity of the picture taken at the altitude where the UAV is located is within the allowable range, so that the picture taken after the altitude adjustment of the UAV reaches the allowable range, further enhancing the monitoring efficiency and accuracy of the UAV for forest disaster situations.

[0056] Furthermore, by setting a preset first power consumption speed and a preset second power consumption speed, the aircraft of the present invention determines whether the power consumption speed of the drone is within the allowable range, reducing the adverse impact on the drone's return flight caused by excessive power consumption, and further improving the monitoring efficiency and accuracy of the drone for forest disaster situations.

[0057] Furthermore, by setting a preset first power consumption speed difference and a preset first power consumption speed difference, and through the adjustment of the power module, the video transmission module, and the power supply by the central control module, the influence of wind on the endurance and recovery utilization rate of the drone is reduced, and the monitoring efficiency and accuracy of the drone for forest disaster situations are further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is the overall structural block diagram of the forest disaster monitoring aircraft based on STM32 and Raspberry Pi in the embodiment of the present invention;

[0059] Figure 2 It is the partial structural block diagram of the forest disaster monitoring aircraft based on STM32 and Raspberry Pi in the embodiment of the present invention;

[0060] Figure 3 It is the overall flowchart of the disaster monitoring algorithm of the forest disaster monitoring aircraft based on STM32 and Raspberry Pi in the embodiment of the present invention;

[0061] Figure 4 It is the partial structural block diagram of the video transmission module of the forest disaster monitoring aircraft based on STM32 and Raspberry Pi in the embodiment of the present invention;

[0062] Figure 5 It is the flowchart of the target monitoring algorithm of the forest disaster monitoring aircraft based on STM32 and Raspberry Pi in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0063] In order to make the purpose and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0064] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention. Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5As shown, they are respectively the overall structural block diagram, partial structural block diagram, overall flowchart of the forest disaster monitoring algorithm, partial structural block diagram of the video transmission module, and flowchart of the target monitoring algorithm of the forest disaster monitoring aircraft based on STM32 and Raspberry Pi in the embodiments of the present invention; A forest disaster monitoring aircraft based on STM32 and Raspberry Pi in the embodiments of the present invention includes:

[0065] The UAV body;

[0066] A power supply, which is arranged on the UAV body and is used to provide electrical energy for the operation of the UAV;

[0067] A power module, which is connected to the power supply and is used to provide power for the flight of the UAV body; It includes 4 motors respectively arranged at positions on the UAV body with an adjacent interval of 90 degrees.

[0068] A video transmission module, which is connected to the power supply, includes a camera connected to the power supply for obtaining corresponding forest image data, and a transmitting component connected to the camera for sending the corresponding forest image data to the receiving end;

[0069] A detection module, which is connected to the power supply, includes a gyroscope arranged on the UAV body for detecting the offset angle of the UAV, and a wind speed sensor arranged on the UAV body for detecting the wind speed in the area where the UAV is located;

[0070] A central control module, which is respectively connected to the power supply, the power module, the video transmission module, and the detection module, and is used to adjust the flight height of the UAV to the corresponding flight height according to the offset angle of the UAV, and secondly adjust the flight height of the UAV to the second corresponding flight height according to the clarity of the image obtained by the camera, and adjust the motor speed of the corresponding offset direction to the corresponding speed according to the wind speed in the area where the UAV is located, and adjust the power distribution ratio of the power module to the corresponding distribution ratio according to the power consumption speed of the UAV during horizontal forward movement.

[0071] The aircraft described in the present invention is provided with a power supply, a power module, a detection module, and a central control module. When monitoring forest disasters, the power supply provides operating electrical energy for the power module, the detection module, and the central control module. The power module includes four motors, and the operation of the motors is controlled by the electrical energy provided by the power supply. The lifting process and tilting process of the drone are controlled by the central control module. The video transmission module includes a camera and a transmitting component for sending corresponding forest image data to the receiving end. In the normal state, the video transmission module operates according to preset parameters. When the power supply is insufficient, the central control module controls to reduce the power ratio allocated to the video transmission module for the normal operation of the power module. The detection module is provided with a wind speed sensor for detecting wind speed. When the drone monitors forest disasters, the detection module transmits wind speed data to the central control module, and the central control module then sends an avoidance signal to the power module. The central control module is the core module of the drone monitoring system. After receiving information sent by other modules, it makes a judgment and sends an adjustment signal to the corresponding module, achieving an improvement in the monitoring efficiency and accuracy of the drone for forest disasters.

[0072] Specifically, as a preferred implementation manner of this embodiment, the camera is a CSI camera, and the transmitting component is a Raspberry Pi ZERO.

[0073] Specifically, the video transmission module further includes a Raspberry Pi 3B+ for receiving signals and two ASUS ac56 network cards.

[0074] Please continue to refer to Figure 4 As shown, the Raspberry Pi receiving end uses a Raspberry Pi 3B+, externally connected to a wifi network card, and uses an antenna to expand its stability and distance. The received video is connected to a monitor using an HDMI cable. The Raspberry Pi transmitting end uses a Raspberry Pi Zero, also externally connected to an antenna to increase the transmission distance. A CSI camera is connected to the Raspberry Pi, and the firmware OPEN HD is used as the transmission software.

[0075] Specifically, the drone in this embodiment is a quadcopter. Its control system takes the STM32f103 single-chip microcomputer as the core. According to the characteristics of the sensors set on the aircraft, different calibration methods are used to calibrate different sensor data and perform low-pass digital filtering processing. A complementary filter is used to optimally evaluate the attitude to achieve attitude measurement. Combining GPS control and attitude control superposition to perform PID control on the four motors of the quadcopter to achieve various flight actions, and adding a video transmission module. Two Raspberry Pis are used as the receiving end and the transmitting end respectively, and the OPENHD firmware is used. The Raspberry Pi receiving end displays the video on the display through HDMI to achieve remote real-time control.

[0076] Specifically, the specific process of fire monitoring is as follows: The drone is equipped with a high-definition camera and flies according to the planned route. When the drone is flying on the predetermined route, the signal transmitter transmits the collected image data and the position information of the drone to the ground station, and analyzes whether there is a fire through the forest fire and smoke recognition algorithm set in the video transmission module. When it is determined that a fire has occurred, the ground terminal will send a hovering instruction to the drone. After receiving the instruction, the drone hovers and rotates the camera to transmit the surrounding situation of the fire to the ground terminal in real time.

[0077] Specifically, a three-axis gyroscope and a three-axis accelerometer are also set on the drone body. The three-axis gyroscope and the three-axis accelerometer are used to calculate the Euler angle by obtaining initial parameters. According to the digital motion processor DMP of the MPU6050 set on the drone body, the original data is directly converted into a quaternion output, and the allowable range of the tilt angle when the drone is in a stable state and the current tilt angle of the drone are calculated.

[0078] Specifically, the adjustment process of the motor speed is as follows: First, find the attitude error signal of the quadrotor aircraft, that is, the difference between the expected attitude angle and the currently obtained attitude angle. Then, obtain the adjustment amount of each motor through the cascade PID control algorithm, transmit the adjustment signal to the four rotating motors, and change the motor speed to control the attitude of the entire system, so that the attitude error always tends to be the smallest, forming a two-stage closed-loop control system.

[0079] Specifically, a wireless communication component is set in the video transmission module. The transmitting component uses the NRF2401 component, and a power amplifier (PA) and a low-noise amplifier (LNA) are added to this component to increase the communication distance. The receiving end is composed of the NRF2401 component, which communicates with the stm32 main control board using SPI.

[0080] Furthermore, the central control module has three types of determination methods for determining whether the stability of the drone is within the allowable range according to the offset angle of the drone detected by the gyroscope. Among them,

[0081] The first type of determination method is that the central control module determines that the stability of the drone is within the allowable range under the condition of a preset first offset angle;

[0082] The second type of determination method is that the central control module determines that the stability of the drone is lower than the allowable range under the condition of a preset second offset angle, determines that the degree of tree breakage in the space area where the drone is located exceeds the allowable range, and adjusts the flight height of the drone to the corresponding flight height by calculating the difference between the offset angle of the drone and the preset first offset angle;

[0083] The third type of determination method is that the central control module determines that the stability of the drone is lower than the allowable range under the preset third offset angle condition, preliminarily determines that the interference degree of the wind on the drone exceeds the allowable range, and makes a secondary determination on whether the interference degree of the wind on the drone exceeds the allowable range according to the wind speed of the area where the drone is located detected by the wind speed sensor;

[0084] Among them, the preset first offset angle condition is that the offset angle of the drone is less than or equal to the preset first offset angle; the preset second offset angle condition is that the offset angle of the drone is greater than the preset first offset angle and less than or equal to the preset second offset angle; the preset third offset angle condition is that the offset angle of the drone is greater than the preset second offset angle; the preset first offset angle is less than the preset second offset angle.

[0085] Specifically, the offset angle of the drone is denoted as Q, the preset first offset angle is denoted as Q1, and the preset second offset angle is denoted as Q2, where Q1 < Q2. The difference between the offset angle of the drone and the preset first offset angle is denoted as △Q, and it is set that △Q = Q - Q1.

[0086] By setting the preset first offset angle and the preset second offset angle, and judging the stability of the drone through the offset angle of the drone, the obstacle avoidance ability of the drone monitoring system is improved, and further the monitoring efficiency and monitoring accuracy of the drone for forest disaster situations are improved.

[0087] Please continue to refer to Figure 5 As shown, the central control module determines three types of adjustment methods for the flight height of the drone according to the difference between the offset angle of the drone and the preset first offset angle under the preset second offset angle condition, where

[0088] The first type of adjustment method is that the central control module adjusts the flight height of the drone to the preset flight height under the preset first offset angle difference condition;

[0089] The second type of adjustment method is that the central control module uses the preset first flight height adjustment coefficient to adjust the flight height of the drone to the first flight height under the preset second offset angle difference condition;

[0090] The third type of adjustment method is that the central control module uses the preset second flight height adjustment coefficient to adjust the flight height of the drone to the second flight height under the preset third offset angle difference condition;

[0091] Among them, the preset first offset angle difference condition is that the difference between the offset angle of the drone and the preset first offset angle is less than or equal to the preset first offset angle difference; the preset second offset angle difference condition is that the difference between the offset angle of the drone and the preset first offset angle is greater than the preset first offset angle difference and less than or equal to the preset second offset angle difference; the preset third offset angle difference condition is that the difference between the offset angle of the drone and the preset first offset angle is greater than the preset second offset angle difference; the preset first offset angle difference is less than the preset second offset angle difference, and the preset first flight height adjustment coefficient is less than the preset second flight height adjustment coefficient.

[0092] Specifically, the preset first offset angle difference is denoted as △Q1, the preset second offset angle difference is denoted as △Q2, the preset first flight height adjustment coefficient is denoted as α1, the preset second flight height adjustment coefficient is denoted as α2, the preset flight height is denoted as H0, where △Q1 < △Q2, 1 < α1 < α2, and the adjusted flight height is denoted as H’, and it is set that H’ = H0 × αi, where αi is the preset i-th flight height adjustment coefficient, and it is set that i = 1, 2.

[0093] By setting the preset first offset angle difference, the preset second offset angle difference, the preset first flight height, and the preset first flight height, the aircraft of the present invention adjusts the flight height of the drone to the corresponding height according to the difference between the measured value of the offset angle by the gyroscope and the preset offset angle, reducing the influence of the breakage of trees in the forest on the flight of the drone, and further improving the monitoring efficiency and monitoring accuracy of the drone for forest disasters.

[0094] Furthermore, by setting the preset first offset angle difference condition, the preset first offset angle difference condition, the preset first offset angle difference condition, the preset flight height, the preset first flight height, and the preset first flight height, the aircraft of the present invention adjusts the flight height of the drone to the corresponding height according to the difference between the measured value of the offset angle by the gyroscope and the preset offset angle, reducing the influence of the breakage of trees in the forest on the flight of the drone, and further improving the monitoring efficiency and monitoring accuracy of the drone for forest disasters.

[0095] Furthermore, the central control module has three types of secondary determination methods for determining whether the interference degree of the wind force on the drone exceeds the range according to the wind speed of the area where the drone is located detected by the wind speed sensor, where

[0096] The first type of secondary determination method is that the central control module determines that the interference degree of the wind force on the drone is within the allowable range under the preset first wind speed condition;

[0097] The second type of secondary determination method is that when the central control module determines that the interference degree of the wind force on the drone exceeds the allowable range under the preset second wind speed condition, it adjusts the motor speed in the corresponding offset direction to the corresponding speed by calculating the difference between the wind speed in the area where the drone is located and the preset first wind speed;

[0098] The third type of secondary determination method is that when the central control module determines that the interference degree of the wind force on the drone exceeds the allowable range under the preset third wind speed condition, it controls the drone to return.

[0099] Among them, the preset first wind speed condition is that the wind speed in the area where the drone is located is less than or equal to the preset first wind speed; the preset second wind speed condition is that the wind speed in the area where the drone is located is greater than the preset first wind speed and less than or equal to the preset second wind speed; the preset third wind speed condition is that the wind speed in the area where the drone is located is greater than the preset second wind speed; the preset first wind speed is less than the preset second wind speed.

[0100] Specifically, the wind speed in the area where the drone is located is denoted as V, the preset first wind speed is denoted as V1, the preset second wind speed is denoted as V2, where V1 < V2, the difference between the wind speed in the area where the drone is located and the preset first wind speed is denoted as ΔV, and it is set that ΔV = V - V1.

[0101] By setting the preset first wind speed and the preset second wind speed, the aircraft of the present invention measures the wind speed around the drone through a wind speed sensor, and determines whether the influence of the wind speed on the drone exceeds the range, reducing the influence of the wind force on the drone, and further improving the monitoring efficiency and monitoring accuracy of the drone for forest disaster situations.

[0102] Please continue to refer to Figure 5 As shown, first the central control module calculates the difference between the allowable wind speed of the drone and the currently obtained wind speed, then obtains the adjustment amount of each motor through a cascade PID control algorithm, transmits the adjustment signal to the four rotating motors, and changes the motor speed to control the attitude of the entire system.

[0103] Furthermore, the central control module determines three types of adjustment methods for the motor speed in the corresponding offset direction according to the difference between the wind speed in the area where the drone is located and the preset first wind speed. Among them,

[0104] The first type of speed adjustment method is that the central control module adjusts the motor speed in the corresponding offset direction to the preset motor speed under the preset first wind speed difference condition;

[0105] The second type of speed adjustment method is that the central control module adjusts the motor speed in the corresponding offset direction to the first speed using the preset first speed adjustment coefficient under the preset second wind speed difference condition;

[0106] The third type of rotational speed adjustment method is that the central control module adjusts the rotational speed of the motor in the corresponding deviation direction to the second rotational speed using a preset second rotational speed adjustment coefficient under a preset third wind speed difference condition;

[0107] Among them, the preset first wind speed difference condition is that the difference between the wind speed in the area where the drone is located and the preset first wind speed is less than or equal to the preset first wind speed difference; the preset second wind speed difference condition is that the difference between the wind speed in the area where the drone is located and the preset first wind speed is greater than the preset second wind speed difference and less than or equal to the preset second wind speed difference; the preset third wind speed difference condition is that the difference between the wind speed in the area where the drone is located and the preset first wind speed is greater than the preset second wind speed difference; the preset first wind speed difference is less than the preset second wind speed difference; the preset first rotational speed adjustment coefficient is less than the preset second rotational speed adjustment coefficient.

[0108] Specifically, the preset first wind speed difference is denoted as △V1, the preset second wind speed difference is denoted as △V2, the preset first rotational speed adjustment coefficient is denoted as β1, the preset second rotational speed adjustment coefficient is denoted as β2, the preset motor rotational speed is denoted as V0, where △V1 < △V2, 1 < β1 < β2, the adjusted rotational speed of the motor in the corresponding deviation direction is denoted as V’, and it is set that V’ = V0×(1 + βj) / 2, where βj is the preset j-th rotational speed adjustment coefficient, and it is set that j = 1, 2.

[0109] The aircraft of the present invention, by setting the preset first wind speed difference and the preset second wind speed difference, calculates, through the central control module, the difference between the wind speed in the area where the drone is located and the preset first wind speed, calculates the adjustment that the corresponding motor of the drone should make to reach the allowable range, and by adjusting the rotational speed of the corresponding motor, enables the drone to fly normally under the corresponding wind speed adjustment, further improving the monitoring efficiency and monitoring accuracy of the drone for forest disaster situations.

[0110] Please continue to refer to Figure 3 as shown, after the camera takes a picture, it transmits the picture back to the central control module for determination, and analyzes whether the picture clarity is within the allowable range.

[0111] Furthermore, the central control module has three determination methods for determining whether the flight altitude of the drone is within the allowable range according to the image clarity obtained by the camera, among which,

[0112] The first type of flight altitude determination method is that the central control module determines that the flight altitude of the drone exceeds the allowable range under the preset first clarity condition, determines that there is a device failure in the drone, and issues a maintenance notice for the device failure of the drone;

[0113] The second method for determining the flight altitude is that the central control module determines that the flight altitude of the drone exceeds the allowable range under the preset second clarity condition, and calculates the difference between the image clarity and the preset first image clarity to secondarily adjust the flight altitude of the drone to the second corresponding flight altitude;

[0114] The third method for determining the flight altitude is that the central control module determines that the flight altitude of the drone is within the allowable range under the preset third clarity condition;

[0115] Among them, the preset first clarity condition is that the image clarity is less than or equal to the preset first image clarity; the preset second clarity condition is that the image clarity is greater than the preset first image clarity and less than or equal to the preset second image clarity; the preset third clarity condition is that the image clarity is greater than the preset second image clarity; the preset first image clarity is less than the preset second image clarity.

[0116] Specifically, the image clarity is denoted as S, the preset first image clarity is denoted as S1, the preset second image clarity is denoted as S2, where S1 < S2, the difference between the image clarity and the preset first image clarity is denoted as △S, and it is set that △S = S - S1.

[0117] By setting the preset first image clarity and the preset second image clarity in the aircraft of the present invention, the first adjustment of the drone altitude may change the clarity of the photo. By determining whether the clarity of the taken photo is within the allowable range, it is determined whether the first adjustment of the drone flight altitude is correct, further improving the monitoring efficiency and accuracy of the drone for forest disaster situations.

[0118] Furthermore, the central control module determines three types of secondary adjustment methods for the drone flight altitude according to the difference between the image clarity and the preset first image clarity under the preset second clarity condition, where

[0119] The first type of secondary adjustment method for the flight altitude is that the central control module secondarily adjusts the flight altitude of the drone to the preset flight altitude under the preset first clarity difference condition;

[0120] The second type of secondary adjustment method for the flight altitude is that the central control module secondarily adjusts the flight altitude of the drone to the third flight altitude using the preset fourth flight altitude adjustment coefficient under the preset second clarity difference condition;

[0121] The third type of secondary adjustment method for the flight altitude is that the central control module secondarily adjusts the flight altitude of the drone to the fourth flight altitude using the preset third flight altitude adjustment coefficient under the preset third clarity difference condition;

[0122] Among them, the preset first clarity difference condition is that the difference between the image clarity and the preset first image clarity is less than or equal to the preset first image clarity difference; the preset second clarity difference condition is that the difference between the image clarity and the preset first image clarity is greater than the preset first image clarity difference and less than or equal to the preset second image clarity difference; the preset third clarity difference condition is that the difference between the image clarity and the preset first image clarity is greater than the preset second image clarity difference; the preset first image clarity difference is less than the preset second image clarity difference, and the preset third flight altitude adjustment coefficient is less than the preset fourth flight altitude adjustment coefficient.

[0123] Specifically, the preset first image clarity difference is denoted as △S1, the preset second image clarity difference is denoted as △S2, the preset third flight altitude adjustment coefficient is denoted as α3, and the preset fourth flight altitude adjustment coefficient is denoted as α4. Among them, △S1 < △S2, 0 < α3 < α4 < 1. The flight altitude after secondary adjustment is denoted as H”. It is set that H” = H’ × αk, where αk is the preset kth flight altitude adjustment coefficient, and it is set that k = 3, 4.

[0124] By setting the preset first image clarity difference and the preset second image clarity difference in the aircraft of the present invention, the central control module adjusts the altitude of the UAV by comparing whether the clarity of the picture taken at the altitude where the UAV is located is within the allowable range, so that the picture taken after the altitude of the UAV is adjusted reaches the allowable range, further improving the monitoring efficiency and monitoring accuracy of the UAV for forest disaster situations.

[0125] Please continue to refer to Figure 1 As shown, the central control module has three types of determination methods for determining whether the degree of power consumption of the resistance is within the allowable range according to the power consumption speed during horizontal advancement, where

[0126] The first type of consumption degree determination method is that the central control module determines that the power consumption degree of the UAV is within the allowable range under the preset first consumption speed condition;

[0127] The second type of consumption degree determination method is that the central control module determines that the degree of power consumption of the resistance exceeds the allowable range under the preset second consumption speed condition, and adjusts the power distribution ratio of the power module to the corresponding value by calculating the difference between the power consumption speed and the preset first power consumption speed;

[0128] The third type of consumption degree determination method is that the central control module determines that the degree of power consumption of the resistance exceeds the allowable range under the preset third consumption speed condition, determines that there is a power supply failure of the UAV, and issues a maintenance notice for the power supply failure of the UAV;

[0129] Among them, the preset first consumption speed condition is that the consumption speed of the UAV's power is less than or equal to the preset first power consumption speed; the preset second consumption speed condition is that the consumption speed of the UAV's power is greater than the preset first power consumption speed and less than or equal to the preset second power consumption speed; the preset third consumption speed condition is that the consumption speed of the UAV's power is greater than the preset second power consumption speed; the preset first power consumption speed is less than the preset second power consumption speed.

[0130] Specifically, the consumption speed of the power is denoted as Q, the preset first consumption speed is denoted as Q1, and the preset second consumption speed is denoted as Q2, where Q1 < Q2. The difference between the consumption speed of the power and the preset first power consumption speed is denoted as △Q, and it is set that △Q = Q - Q1.

[0131] Furthermore, by setting the preset first power consumption speed and the preset second power consumption speed, the present invention determines whether the consumption speed of the UAV's power is within the allowable range, reduces the adverse impact on the UAV's return flight caused by excessive power consumption, and further improves the monitoring efficiency and monitoring accuracy of the UAV for forest disaster situations.

[0132] Furthermore, the central control module determines three types of adjustment methods for the power distribution ratio of the power module according to the difference between the power consumption speed of the UAV during horizontal forward movement and the preset first consumption speed. Among them,

[0133] The first type of ratio adjustment method is that the central control module adjusts the power distribution ratio of the power module to the preset power distribution ratio under the preset first consumption speed difference condition;

[0134] The second type of ratio adjustment method is that the central control module uses the preset first power distribution ratio adjustment coefficient to adjust the power distribution ratio to the first power distribution ratio under the preset second consumption speed difference condition;

[0135] The third type of ratio adjustment method is that the central control module uses the preset second power distribution ratio adjustment coefficient to adjust the power distribution ratio to the second power distribution ratio under the preset third consumption speed difference condition;

[0136] Among them, the preset first power distribution ratio adjustment coefficient is less than the preset second power distribution ratio adjustment coefficient.

[0137] The preset first consumption speed difference condition is that the difference between the power consumption speed and the preset first power consumption speed is less than or equal to the preset first power consumption speed difference;

[0138] The preset second power consumption speed difference condition is that the difference between the power consumption speed and the preset first power consumption speed is greater than the preset first power consumption speed difference and less than or equal to the preset second power consumption speed difference;

[0139] The preset third power consumption speed difference condition is that the difference between the power consumption speed and the preset first power consumption speed is greater than the preset second power consumption speed difference; the preset first power consumption speed difference is less than the preset second power consumption speed difference.

[0140] Specifically, the preset first power consumption speed difference is denoted as △Q1, the preset second power consumption speed difference is denoted as △Q2, the preset first distribution ratio adjustment coefficient is denoted as γ1, the preset second distribution ratio adjustment coefficient is denoted as γ2, and the preset power module power distribution ratio is denoted as B0. Among them, △Q1 < △Q2, 1 < γ1 < γ2, and the adjusted power module power distribution ratio is denoted as B’. It is set that B’ = B0×(1 + 2γg) / 3, where γg is the preset gth distribution ratio adjustment coefficient, and it is set that g = 1, 2.

[0141] By setting the preset first power consumption speed difference and the preset first power consumption speed difference, and through the adjustment of the power module, the image transmission module, and the power supply by the central control module, the aircraft of the present invention reduces the influence of wind on the endurance and recycling rate of the unmanned aerial vehicle, and further improves the monitoring efficiency and monitoring accuracy of the unmanned aerial vehicle for forest disaster situations.

[0142] Embodiment 1

[0143] Please refer to Figure 3 and Figure 5 As shown, in the image transmission module of the forest disaster situation monitoring aircraft based on STM32 and Raspberry Pi in this Embodiment 1, a disaster situation monitoring algorithm is set. By monitoring two kinds of information, namely flame and smoke, relying on the regression-based target detection and recognition algorithm YOLOV5, this algorithm initially configures the programming environment of YOLO, and then downloads the required weight pre-training weights. Among them, the configuration data format: first, find the flame data set, and the data set should contain two folders, Annotations and JPEGImages. Place the prepared pictures and xml marking information in them. Then establish two classification folders, generate the train.txt and valid.txt file information, and divide the data set. After that, run voc_annotation.py to process the xml marking information into a txt file format. Thus, the step of making the data set is completed. Then, use this data set for training and verify its accuracy.

[0144] Embodiment 2

[0145] In this Embodiment 2, the central control module determines three types of adjustment methods for the flight altitude of the drone according to the difference between the deviation angle of the drone and the preset first deviation angle under the condition of the preset second deviation angle. The difference between the deviation angle of the drone and the preset first deviation angle is denoted as △Q, the preset first deviation angle difference is denoted as △Q1, the preset second deviation angle difference is denoted as △Q2, the preset first flight altitude adjustment coefficient is denoted as α1, and the preset second flight altitude adjustment coefficient is denoted as α2. Among them, △Q1 = 3°, △Q2 = 6°, α1 = 1.2, α2 = 1.5, H0 = 8m.

[0146] In this embodiment, △Q = 4° is obtained. The central control module determines that △Q1 < △Q ≤ △Q2 and uses α1 to adjust the flight altitude of the drone. The adjusted flight altitude of the drone is H' = 8m × 1.2 = 9.6m.

[0147] In this embodiment, by setting the first deviation angle difference and the second deviation angle difference, three types of adjustment methods for the flight altitude of the drone are determined, reducing the impact of tree breakage problems on the flight of the drone and achieving an improvement in the monitoring efficiency and monitoring accuracy of the drone for forest disaster situations.

[0148] Embodiment 3

[0149] In this Embodiment 3, the central control module adjusts the motor speed to three types of adjustment methods corresponding to the motor speed according to the difference between the wind speed in the area where the drone is located and the preset first wind speed. The preset first wind speed difference is denoted as △V1, the preset second wind speed difference is denoted as △V2, the preset first speed adjustment coefficient is denoted as β1, the preset second speed adjustment coefficient is denoted as β2, and the preset motor speed is denoted as V0. Among them, △V1 = 1m / s, △V2 = 2m / s, β1 = 1.2, β2 = 1.4, V0 = 960r / min. The adjusted motor speed in the corresponding deviation direction is denoted as V'. It is set that V' = V0 × (1 + βj) / 2, where βj is the preset jth speed adjustment coefficient, and j = 1, 2 is set.

[0150] In this embodiment, △V = 1.2m / s is obtained. The central control module determines that △V1 < △V ≤ △V2 and uses the preset first speed adjustment coefficient β1 to adjust the motor speed in the corresponding deviation direction. It is calculated that V' = 960r / min × (1 + 1.2) / 2 = 1056r / min.

[0151] The aircraft of the present invention, by setting the preset first wind speed difference and the preset second wind speed difference, adjusts the motor speed in the corresponding deviation direction according to the difference between the wind speed in the area where the drone is located and the preset first wind speed, reducing the impact on the stability of the drone caused by untimely adjustment of the motor speed and achieving an improvement in the monitoring efficiency and monitoring accuracy of the drone for forest disaster situations.

[0152] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easily understood by those skilled in the art that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0153] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A forest disaster monitoring aircraft based on STM32 and Raspberry Pi, characterized in that, it includes: a drone body; a power supply, which is arranged on the drone body to provide electrical energy for the operation of the drone; a power module, which is connected to the power supply to provide power for the flight of the drone body; it includes 4 motors respectively arranged at the position of the drone body adjacent to each other at an interval of 90 degrees; a video transmission module, which is connected to the power supply, including a camera connected to the power supply to obtain corresponding forest image data and a transmitting component connected to the camera to send the corresponding forest image data to the receiving end; a detection module, which is connected to the power supply, including a gyroscope arranged on the drone body to detect the deviation angle of the drone and an anemometer arranged on the drone body to detect the wind speed in the area where the drone is located; a central control module, which is respectively connected to the power supply, the power module, the video transmission module and the detection module, to adjust the flight height of the drone to the corresponding flight height according to the deviation angle of the drone, and, to secondarily adjust the flight height of the drone to the second corresponding flight height according to the clarity of the image obtained by the camera, and, to adjust the rotation speed of the motor in the corresponding deviation direction to the corresponding rotation speed according to the wind speed in the area where the drone is located, and, to adjust the power distribution ratio of the power module to the corresponding distribution ratio according to the power consumption speed of the drone during horizontal forward movement.

2. The forest disaster monitoring aircraft based on STM32 and Raspberry Pi according to claim 1, characterized in that, the central control module has three types of determination methods for determining whether the stability of the drone is within the allowable range according to the deviation angle of the drone detected by the gyroscope, wherein, the first type of determination method is that the central control module determines that the stability of the drone is within the allowable range under the preset first deviation angle condition; the second type of determination method is that the central control module determines that the stability of the drone is lower than the allowable range under the preset second deviation angle condition, determines that the degree of tree breakage in the space area where the drone is located exceeds the allowable range, and adjusts the flight height of the drone to the corresponding flight height by calculating the difference between the deviation angle of the drone and the preset first deviation angle; the third type of determination method is that the central control module determines that the stability of the drone is lower than the allowable range under the preset third deviation angle condition, preliminarily determines that the interference degree of the wind on the drone exceeds the allowable range, and makes a secondary determination on whether the interference degree of the wind on the drone exceeds the allowable range according to the wind speed in the area where the drone is located detected by the anemometer; wherein, the preset first deviation angle condition is that the deviation angle of the drone is less than or equal to the preset first deviation angle; the preset second deviation angle condition is that the deviation angle of the drone is greater than the preset first deviation angle and less than or equal to the preset second deviation angle; the preset third deviation angle condition is that the deviation angle of the drone is greater than the preset second deviation angle; the preset first deviation angle is less than the preset second deviation angle.

3. The forest disaster monitoring aircraft based on STM32 and Raspberry Pi according to claim 2, characterized in that, under the condition of a preset second offset angle, the central control module determines three types of adjustment methods for the flight altitude of the UAV according to the difference between the offset angle of the UAV and the preset first offset angle, where, The first type of adjustment method is that the central control module adjusts the flight altitude of the UAV to a preset flight altitude under the condition of a preset first offset angle difference; The second type of adjustment method is that the central control module uses a preset first flight altitude adjustment coefficient to adjust the flight altitude of the UAV to a first flight altitude under the condition of a preset second offset angle difference; The third type of adjustment method is that the central control module uses a preset second flight altitude adjustment coefficient to adjust the flight altitude of the UAV to a second flight altitude under the condition of a preset third offset angle difference; wherein, the preset first offset angle difference condition is that the difference between the offset angle of the UAV and the preset first offset angle is less than or equal to the preset first offset angle difference; the preset second offset angle difference condition is that the difference between the offset angle of the UAV and the preset first offset angle is greater than the preset first offset angle difference and less than or equal to the preset second offset angle difference; the preset third offset angle difference condition is that the difference between the offset angle of the UAV and the preset first offset angle is greater than the preset second offset angle difference; the preset first offset angle difference is less than the preset second offset angle difference, and the preset first flight altitude adjustment coefficient is less than the preset second flight altitude adjustment coefficient.

4. The forest disaster monitoring aircraft based on STM32 and Raspberry Pi according to claim 3, characterized in that, the central control module determines three types of secondary determination methods for whether the interference degree of the wind force on the UAV exceeds the range according to the wind speed of the area where the UAV is located detected by the wind speed sensor, where, The first type of secondary determination method is that the central control module determines that the interference degree of the wind force on the UAV is within the allowable range under the condition of a preset first wind speed; The second type of secondary determination method is that the central control module determines that the interference degree of the wind force on the UAV exceeds the allowable range under the condition of a preset second wind speed, and adjusts the motor speed in the corresponding offset direction to the corresponding speed by calculating the difference between the wind speed of the area where the UAV is located and the preset first wind speed; The third type of secondary determination method is that the central control module determines that the interference degree of the wind force on the UAV exceeds the allowable range under the condition of a preset third wind speed, and controls the UAV to return; wherein, the preset first wind speed condition is that the wind speed of the area where the UAV is located is less than or equal to the preset first wind speed; the preset second wind speed condition is that the wind speed of the area where the UAV is located is greater than the preset first wind speed and less than or equal to the preset second wind speed; the preset third wind speed condition is that the wind speed of the area where the UAV is located is greater than the preset second wind speed; the preset first wind speed is less than the preset second wind speed.

5. The forest disaster monitoring aircraft based on STM32 and Raspberry Pi according to claim 4, characterized in that, The central control module determines three types of adjustment methods for the motor speed in the corresponding offset direction according to the difference between the wind speed in the area where the drone is located and the preset first wind speed. Among them, The first type of speed adjustment method is that the central control module adjusts the motor speed in the corresponding offset direction to the preset motor speed under the condition of the preset first wind speed difference; The second type of speed adjustment method is that the central control module uses the preset first speed adjustment coefficient to adjust the motor speed in the corresponding offset direction to the first speed under the condition of the preset second wind speed difference; The third type of speed adjustment method is that the central control module uses the preset second speed adjustment coefficient to adjust the motor speed in the corresponding offset direction to the second speed under the condition of the preset third wind speed difference; Among them, the preset first wind speed difference condition is that the difference between the wind speed in the area where the drone is located and the preset first wind speed is less than or equal to the preset first wind speed difference; the preset second wind speed difference condition is that the difference between the wind speed in the area where the drone is located and the preset first wind speed is greater than the preset second wind speed difference and less than or equal to the preset second wind speed difference; the preset third wind speed difference condition is that the difference between the wind speed in the area where the drone is located and the preset first wind speed is greater than the preset second wind speed difference; the preset first wind speed difference is less than the preset second wind speed difference, and the preset first speed adjustment coefficient is less than the preset second speed adjustment coefficient.

6. The forest disaster monitoring aircraft based on STM32 and Raspberry Pi according to claim 5, characterized in that The central control module determines three determination methods for whether the flight altitude of the drone is within the allowable range according to the clarity of the image obtained by the camera. Among them, The first type of flight altitude determination method is that the central control module determines that the flight altitude of the drone exceeds the allowable range under the condition of the preset first clarity, determines that there is a device failure of the drone, and issues a maintenance notice for the device failure of the drone; The second type of flight altitude determination method is that the central control module determines that the flight altitude of the drone exceeds the allowable range under the condition of the preset second clarity, and adjusts the flight altitude of the drone to the second corresponding flight altitude by calculating the difference between the image clarity and the preset first image clarity; The third type of flight altitude determination method is that the central control module determines that the flight altitude of the drone is within the allowable range under the condition of the preset third clarity; Among them, the preset first clarity condition is that the image clarity is less than or equal to the preset first image clarity; the preset second clarity condition is that the image clarity is greater than the preset first image clarity and less than or equal to the preset second image clarity; the preset third clarity condition is that the image clarity is greater than the preset second image clarity; the preset first image clarity is less than the preset second image clarity.

7. The forest disaster monitoring aircraft based on STM32 and Raspberry Pi according to claim 6, characterized in that The central control module determines three types of secondary adjustment methods for the flight altitude of the drone according to the difference between the image clarity and the preset first image clarity under the condition of the preset second clarity. Among them, The first type of secondary adjustment method for the flight altitude is that the central control module adjusts the flight altitude of the drone to a preset flight altitude under the condition of a preset first clarity difference; The second type of secondary adjustment method for the flight altitude is that the central control module uses a preset fourth flight altitude adjustment coefficient to adjust the flight altitude of the drone to a third flight altitude under the condition of a preset second clarity difference; The third type of secondary adjustment method for the flight altitude is that the central control module uses a preset third flight altitude adjustment coefficient to adjust the flight altitude of the drone to a fourth flight altitude under the condition of a preset third clarity difference; Wherein, the preset first clarity difference condition is that the difference between the image clarity and the preset first image clarity is less than or equal to the preset first image clarity difference; the preset second clarity difference condition is that the difference between the image clarity and the preset first image clarity is greater than the preset first image clarity difference and less than or equal to the preset second image clarity difference; the preset third clarity difference condition is that the difference between the image clarity and the preset first image clarity is greater than the preset second image clarity difference; the preset first image clarity difference is less than the preset second image clarity difference, and the preset third flight altitude adjustment coefficient is less than the preset fourth flight altitude adjustment coefficient.

8. The forest disaster monitoring aircraft based on STM32 and Raspberry Pi according to claim 7, characterized in that, The central control module has three types of determination methods for determining whether the power consumption degree of the resistance is within the allowable range according to the power consumption speed during horizontal advancement. Among them, The first type of consumption degree determination method is that the central control module determines that the power consumption degree of the drone is within the allowable range under the condition of a preset first consumption speed; The second type of consumption degree determination method is that the central control module determines that the power consumption degree of the resistance exceeds the allowable range under the condition of a preset second consumption speed, and adjusts the power distribution ratio of the power module to a corresponding value by calculating the difference between the power consumption speed and the preset first power consumption speed; The third type of consumption degree determination method is that the central control module determines that the power consumption degree of the resistance exceeds the allowable range under the condition of a preset third consumption speed, determines that there is a power supply failure of the drone, and issues a maintenance notice for the power supply failure of the drone; Wherein, the preset first consumption speed condition is that the power consumption speed of the drone is less than or equal to the preset first power consumption speed; the preset second consumption speed condition is that the power consumption speed of the drone is greater than the preset first power consumption speed and less than or equal to the preset second power consumption speed; the preset third consumption speed condition is that the power consumption speed of the drone is greater than the preset second power consumption speed; the preset first power consumption speed is less than the preset second power consumption speed.

9. The forest disaster monitoring aircraft based on STM32 and Raspberry Pi according to claim 8, characterized in that, The central control module determines three types of adjustment methods for the power distribution ratio of the power module according to the difference between the power consumption speed of the drone during horizontal advancement and the preset first consumption speed. Among them, The first type of proportion adjustment method is that the central control module adjusts the power distribution proportion of the power module to a preset power distribution proportion under a preset first consumption speed difference condition; The second type of proportion adjustment method is that the central control module adjusts the power distribution proportion to a first power distribution proportion using a preset first power distribution proportion adjustment coefficient under a preset second consumption speed difference condition; The second type of proportion adjustment method is that the central control module adjusts the power distribution proportion to a second power distribution proportion using a preset second power distribution proportion adjustment coefficient under a preset third consumption speed difference condition; Among them, the preset first power distribution proportion adjustment coefficient is less than the preset second power distribution proportion adjustment coefficient.

10. The forest fire disaster monitoring aircraft based on STM32 and Raspberry Pi according to claim 9, characterized in that The preset first consumption speed difference condition is that the difference between the power consumption speed and the preset first power consumption speed is less than or equal to the preset first power consumption speed difference; The preset second consumption speed difference condition is that the difference between the power consumption speed and the preset first power consumption speed is greater than the preset first power consumption speed difference and less than or equal to the preset second power consumption speed difference; The preset third consumption speed difference condition is that the difference between the power consumption speed and the preset first power consumption speed is greater than the preset second power consumption speed difference; The preset first power consumption speed difference is less than the preset second power consumption speed difference.

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