Mooring unmanned aerial vehicle multi-scene application system

Abstract

The invention relates to a mooring unmanned aerial vehicle multi-scene application system, and belongs to the technical field of monitoring systems of control devices, and the mooring unmanned aerial vehicle multi-scene application system comprises a region monitoring unit, a data collection module and a feature calculation module, monitoring respective monitoring pictures in the multiple scene areas; the data collection module is used for collecting respective monitoring pictures in a multi-scene area, and the feature calculation module is used for analyzing the condition that obstacles exist in respective areas of the multi-scene area in an area positioning distribution mode; the area monitoring unit is connected to the feature calculation module through the data collection module; the system has the advantages that the feature calculation module analyzes the condition that obstacles exist in respective areas of the multi-scene areas and changes the positions of the scene areas with the obstacles, collision of the mooring unmanned aerial vehicle in multiple scenes is avoided, and the execution unit enables the mooring unmanned aerial vehicle to monitor respective monitoring images in the multi-scene areas.

Description

Technical Field

[0001] The present invention belongs to the technical field of monitoring systems for control devices, and in particular relates to a tethered unmanned aerial vehicle (UAV) multi-scenario application system. Background Art

[0002] Tethered drones are also called tethered drones. Tethered drones use tethered cables to obtain power from the ground as a power source, instead of installing traditional lithium batteries on tethered drones. The main feature of tethered drones is that they can fly in the air and hover for a long time. Generally, tethered drones can fly in multiple scenes and hover for a long time, which is convenient for tethered drones to perform long-term monitoring or surveillance in different scenes.

[0003] However, in urban environments with tall buildings, tethered drones may collide with obstacles such as buildings and utility poles; in agricultural and forestry scenarios, tethered drones may also collide with obstacles such as trees; in mountain and forest scenarios, tethered drones may also collide with obstacles such as mountains; for example: when a tethered drone is inspecting a mountain during flight, an operational error may cause the tethered drone to collide with a mountain, posing a threat to the safe flight of the tethered drone.

[0004] Therefore, no matter what scenario the tethered drone is in, any operational error will cause the tethered drone to collide with obstacles, posing a threat to the safe flight of the tethered drone. Summary of the invention

[0005] The present invention provides a tethered drone multi-scenario application system, which is used to solve the technical problem of tethered drones colliding in multiple scenarios. By changing the position of one or several scene areas with obstacles, the tethered drones are prevented from colliding in multiple scenarios.

[0006] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0007] Tethered drone multi-scenario application system, including:

[0008] A regional monitoring unit, used to set the size of each of the multiple scene regions by using a contour region grid positioning method, and to monitor the respective monitoring images in the multiple scene regions;

[0009] A data collection module is used to collect monitoring images of each of the multiple scene areas, wherein the location time interval method is used to collect the monitoring images of each of the multiple scene areas;

[0010] A feature calculation module is used to analyze the presence of obstacles in each of the multiple scene areas using a regional positioning distribution method;

[0011] The regional monitoring unit is connected to the feature calculation module through the data collection module. After the regional monitoring unit monitors the respective monitoring images in the multi-scene areas, the data collection module collects the respective monitoring images in the multi-scene areas, and the feature calculation module analyzes whether there are obstacles in the respective areas of the multi-scene areas.

[0012] Optionally, the regional monitoring unit includes: a plurality of regional monitoring and analysis modules; each regional monitoring and analysis module is used to set the size of its own scene area and monitor the monitoring screen in its own scene area;

[0013] The sizes of the scene areas set by the regional monitoring and analysis modules are the same or different; and the regional monitoring and analysis modules monitor different monitoring images according to the scene areas they monitor.

[0014] When the sizes of the scene areas are the same, each area monitoring and analysis module monitors the surveillance images in its own scene area at the same time;

[0015] When the sizes of the scene areas are different, each area monitoring and analysis module monitors the monitoring images in its own scene area in sequence.

[0016] Optionally, the contour area grid positioning method adopted by the regional monitoring unit works through the following formula (1)-formula (2):

[0017] (1);

[0018] (2);

[0019] In formula (1), For the contour area, To collect the first contour area To Contour area , For the first contour area To Contour area Select a contour area. The execution operation selected for the contour area, For the Contour area The size of the region, To set the Contour area The size of the region, For the first contour area To Contour area Select the Contour area , and set the Contour area The size of the region; For the Contour area The geometric center of To collect the first contour area The geometric center to Contour area The geometric center of

[0020] In formula (2), For the Contour area The grid area, For the Contour area In the first grid area To Grid Area composition.

[0021] Optionally, the area monitoring unit can locate the position of each scene area after the area size of each scene area is set.

[0022] Optionally, the location time interval method adopted by the data collection module works through the following formula (3):

[0023] (3);

[0024] in, For the Time period, To set the time from the first period To Time The length of each period, To set the time period length, For the Time The monitoring screen, For the first period Monitoring screen To Time Monitoring screen A collection of For data corresponding operations, Make the first period Corresponding to the monitoring screen , No. Time Corresponding to the monitoring screen , No. Time Corresponding to the monitoring screen ;

[0025] or It brings together the monitoring images of multiple scene areas.

[0026] Optionally, the data collection module works in the following manner:

[0027] The respective monitoring images in the multiple scene areas in the regional monitoring unit are simultaneously aggregated into the data collection module, or the respective monitoring images in the multiple scene areas in the regional monitoring unit are sequentially aggregated into the data collection module.

[0028] Optionally, the regional positioning distribution method adopted by the feature calculation module works through the following formula (4):

[0029] (4);

[0030] in, represents the contour area, For the The sequence number of the contour area, To detect the Is there any obstacle in the contour area? To analyze Is there any obstacle in the contour area? For the After the first contour area is separated from other contour areas, the Whether there are obstacles in the contour area;

[0031] It means that each contour area is separated, and then analyze whether there are obstacles inside each contour area;

[0032] or In order to gather the contour areas, each contour area is analyzed to see whether there are obstacles inside.

[0033] Optionally, the feature calculation module can determine whether there are obstacles in each scene area;

[0034] If there are no obstacles in each scene area, the position of each scene area remains unchanged;

[0035] If there is an obstacle in at least one of the scene areas, the position of the scene area with the obstacle is re-transformed.

[0036] Optionally, the feature calculation module is connected to the execution unit, and the execution unit is used to tether the drone to monitor the respective surveillance images in the multiple scene areas after the area sizes and positions of the multiple scene areas are determined.

[0037] Optionally, the regional monitoring unit, the data collection module, the feature calculation module and the execution unit are each connected to a ground power source via a tethered cable.

[0038] Beneficial effects of the present invention:

[0039] The area monitoring unit of the present invention sets the area size of each of the multiple scene areas, and monitors the monitoring screens of each of the multiple scene areas; the data collection module collects the monitoring screens of each of the multiple scene areas; the feature calculation module analyzes the existence of obstacles in each of the multiple scene areas, and changes the position of one or several scene areas with obstacles through the feature calculation module, thereby avoiding the tethered drone from colliding in multiple scenes; and after the execution unit determines the area size and position of each of the multiple scene areas, the tethered drone is allowed to monitor the monitoring screens of each of the multiple scene areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a schematic diagram of the system structure of the present invention;

[0042] Figure 2 It is a schematic diagram of the workflow of the present invention;

[0043] Figure 3 A working principle diagram of the generation and convergence of multiple scene areas of the present invention;

[0044] Figure 4 The present invention constructs and generates a working principle diagram of a certain scene area through a grid. DETAILED DESCRIPTION

[0045] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0046] Embodiment 1:

[0047] like Figure 1 As shown, the present application provides a tethered drone multi-scenario application system, including: a regional monitoring unit, a data collection module, a feature calculation module and an execution unit;

[0048] The area monitoring unit is used to set the area size of each of the multiple scene areas by using the contour area grid positioning method, and to monitor the respective monitoring images in the multiple scene areas;

[0049] The data collection module is used to collect the monitoring images of each of the multiple scene areas, wherein the location time interval method is used to collect the monitoring images of each of the multiple scene areas;

[0050] The feature calculation module is used to analyze the existence of obstacles in each area of ​​multiple scene areas by using the distribution method of regional positioning;

[0051] The execution unit is used to tether the drone to monitor the respective surveillance images in the multiple scene areas after the respective area sizes and positions of the multiple scene areas are determined.

[0052] The regional monitoring unit is connected to the feature calculation module through the data collection module. After the regional monitoring unit monitors the respective monitoring images in the multi-scene areas, the data collection module collects the respective monitoring images in the multi-scene areas, and the feature calculation module analyzes whether there are obstacles in the respective areas of the multi-scene areas. The feature calculation module is connected to the execution unit.

[0053] The regional monitoring unit, the data collection module, the feature calculation module and the execution unit are each connected to a ground power source via a tethered cable.

[0054] The regional monitoring unit includes: a plurality of regional monitoring and analysis modules (i.e., the first regional monitoring and analysis module...the Regional Monitoring and Analysis Module… Each regional monitoring and analysis module is used to set the size of each scene area and monitor the monitoring screen in each scene area. Figure 1 As shown, the first area monitoring and analysis module sets the first scene area, the Regional monitoring and analysis module settings scene area, Regional monitoring and analysis module settings scene area.

[0055] Furthermore, the area sizes of the respective scene areas set by the respective regional monitoring and analysis modules are the same or different (i.e., the area sizes of the first scene area to the second scene area are the same or different). The area sizes of the scene areas of the first scene area are the same or different); each area monitoring and analysis module monitors different monitoring images according to the scene area monitored by each area, that is, the first area monitoring and analysis module monitors the monitoring image in the first scene area, and the second area monitoring and analysis module monitors the monitoring image in the first scene area. Regional monitoring and analysis module monitors The monitoring screen in the scene area, Regional monitoring and analysis module monitors Monitoring screen within a scene area;

[0056] When the sizes of the scene areas are the same, each area monitoring and analysis module monitors the surveillance images in its own scene area at the same time;

[0057] When the sizes of the scene areas are different, each area monitoring and analysis module monitors the monitoring images in its own scene area in sequence.

[0058] Embodiment 2:

[0059] Based on Example 1, this example further illustrates the work of the regional monitoring unit. The contour area grid positioning method adopted by the regional monitoring unit works through the following formula (1)-formula (2):

[0060] (1);

[0061] (2);

[0062] In formula (1), For the contour area or scene area, To collect the first contour area or the first scene area To contour area or Scene area , For the first contour area To Contour area Select a certain contour area (in this embodiment, select the first Contour area ), The execution operation selected for the contour area, For the Contour area The size of the region, To set the Contour area The size of the region, For the first contour area To Contour area Select the Contour area , and set the Contour area The size of the region; You can select the first contour area To Contour area All contour areas and set the area size of each contour area. In the first contour area To Contour area After all contour areas are selected, Record and collect the first contour area The geometric center to Contour area The geometric center of As the Contour area The geometric center of

[0063] Therefore, formula (1) sets the size of each contour area and aggregates the geometric center positions of each contour area.

[0064] Formula (1) combined Figure 3 , the first area monitoring and analysis module sets and monitors the first scene area, i.e. Figure 3 Area A in Regional monitoring and analysis module settings and monitoring The scene area is Figure 3 Region B in Regional monitoring and analysis module settings and monitoring The scene area is Figure 3 The C region.

[0065] When the sizes of the scene areas (A to C) are the same, the monitoring and analysis modules of each area are simultaneously (i.e., the first area monitoring and analysis module monitors area A, the second area monitoring and analysis module monitors area The regional monitoring and analysis module monitors area B, The regional monitoring and analysis modules monitor the C area at the same time) to monitor the monitoring images in their respective scene areas; when the sizes of the scene areas (A area to C area) are different, the regional monitoring and analysis modules monitor the A area first, then the A area, and then the B area. The regional monitoring and analysis module monitors area B, and finally the The regional monitoring and analysis module monitors area C and monitors the surveillance images in the respective scene areas in the order of area A to area C.

[0066] In formula (2), if Figure 4 As shown, Contour area For example, in Contour area Inside, For the Contour area or The grid area, For the Contour area or In the first grid area To Grid Area composition, For the first grid area To Grid Area The first grid area To Grid Area The grid areas of Contour area Random distribution within Intelligent generation of grid regions Figure 4 Shape Contour area Then it is OK.

[0067] According to formula (2), Contour area For example, the first grid area To Grid Area Composition Contour area After that, The regional monitoring and analysis module can intelligently calculate and determine the Contour area Similarly, through formula (2), each regional monitoring and analysis module can determine the geometric center of the corresponding contour area. In this way, each regional monitoring and analysis module calculates the geometric center position of the corresponding contour area. The regional monitoring unit can locate the position of each scene area after the size of each scene area is set.

[0068] Embodiment 3:

[0069] Based on Embodiment 1 and Embodiment 2, the location period interval method adopted by the data collection module works through the following formula (3):

[0070] (3);

[0071] in, For the Time period, is the collection of each time period, To set the time from the first period To Time The length of each period, The operation of setting the time period length (that is, the lengths of various time periods can be set to be the same or different). For the Time The monitoring screen, For the first period Monitoring screen To Time Monitoring screen A collection of For data corresponding operations, Make the first period Corresponding to the monitoring screen , No. Time Corresponding to the monitoring screen , No. Time Corresponding to the monitoring screen ;

[0072] or It brings together the monitoring images of multiple scene areas.

[0073] By combining the following formula (3) Figure 3 It can be seen that the first period Corresponding monitoring screen This is the monitoring screen in area A. Time Corresponding monitoring screen This is the monitoring screen in area B. Time Corresponding monitoring screen This is the monitoring screen in area C. Figure 3 The T in it is equivalent to a data collection module, and the monitoring screens in area A, area B, and area C are collected in T.

[0074] In addition, the data collection module can also work in the following ways:

[0075] The respective monitoring screens in the multi-scene areas in the regional monitoring unit (i.e., the monitoring screens of area A to the monitoring screens of area C) are simultaneously aggregated into the data aggregation module, or the respective monitoring screens in the multi-scene areas in the regional monitoring unit are aggregated into the data aggregation module in sequence (in the order of the monitoring screens of area A, the monitoring screens of area B, and the monitoring screens of area C).

[0076] Embodiment 4:

[0077] Based on Embodiments 1 to 3, the regional positioning distribution mode adopted by the feature calculation module works through the following formula (4):

[0078] (4);

[0079] in, represents the contour area, For the Contour area The serial number, To detect the Contour area Are there any obstacles inside? To analyze Contour area Are there any obstacles inside? For the After the first contour area is separated from other contour areas, the Whether there are obstacles in the contour area;

[0080] Represents each contour area (i.e. the first contour area To Contour area ) are separated, and then each contour area is analyzed to see if there are obstacles inside;

[0081] or In order to gather the contour areas, each contour area is analyzed to see whether there are obstacles inside.

[0082] The feature calculation module can determine whether there are obstacles in each scene area;

[0083] If there are no obstacles in each scene area, the position of each scene area remains unchanged;

[0084] If at least one of the scene areas has an obstacle, the position of the scene area with the obstacle is re-transformed (ie, the geometric center position of the scene area with the obstacle, such as area A, area B or area C, is re-transformed).

[0085] Embodiment 5:

[0086] Based on all the above embodiments, Figure 2 As shown, the working principle of the present invention is:

[0087] The regional monitoring unit sets the size of each of the multiple scene areas, and monitors the monitoring screens of each of the multiple scene areas; the data collection module collects the monitoring screens of each of the multiple scene areas; the feature calculation module analyzes the existence of obstacles in each of the multiple scene areas, and changes the position of the scene area where obstacles exist; after the execution unit determines the size and position of each of the multiple scene areas, the tethered drone monitors the monitoring screens of each of the multiple scene areas.

[0088] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A tethered drone multi-scenario application system, characterized in that: include: A regional monitoring unit, used to set the size of each of the multiple scene regions by using a contour region grid positioning method, and to monitor the respective monitoring images in the multiple scene regions; A data collection module is used to collect monitoring images of each of the multiple scene areas, wherein the location time interval method is used to collect the monitoring images of each of the multiple scene areas; A feature calculation module is used to analyze the presence of obstacles in each of the multiple scene areas using a regional positioning distribution method; The regional monitoring unit is connected to the feature calculation module through the data collection module. After the regional monitoring unit monitors the respective monitoring images in the multi-scene areas, the data collection module collects the respective monitoring images in the multi-scene areas, and the feature calculation module analyzes whether there are obstacles in the respective areas of the multi-scene areas.

2. A tethered drone multi-scenario application system according to claim 1, characterized in that: The regional monitoring unit includes: a plurality of regional monitoring and analysis modules; each of the regional monitoring and analysis modules is used to set the size of the respective scene area and monitor the monitoring screen within the respective scene area; The sizes of the scene areas set by the regional monitoring and analysis modules are the same or different; and the regional monitoring and analysis modules monitor different monitoring images according to the scene areas they monitor. When the sizes of the scene areas are the same, each area monitoring and analysis module monitors the surveillance images in its own scene area at the same time; When the sizes of the scene areas are different, each area monitoring and analysis module monitors the monitoring images in its own scene area in sequence.

3. The multi-scenario application system of a tethered drone according to claim 2, characterized in that: The contour area grid positioning method adopted by the area monitoring unit works through the following formula (1)-formula (2): (1)； (2)； In formula (1), For the contour area, To collect the first contour area To Contour area , For the first contour area To Contour area Select a contour area. The execution operation selected for the contour area, For the Contour area The size of the region, To set the Contour area The size of the region, For the first contour area To Contour area Select the Contour area , and set the Contour area The size of the area; For the Contour area The geometric center of To collect the first contour area The geometric center to Contour area The geometric center of In formula (2), For the Contour area The grid area, For the Contour area In the first grid area To Grid Area composition.

4. The multi-scenario application system of a tethered drone according to claim 2, characterized in that: The area monitoring unit can locate the position of each scene area after the area size of each scene area is set.

5. The multi-scenario application system of a tethered drone according to claim 1, characterized in that: The location time interval method adopted by the data collection module works through the following formula (3): (3)； in, For the Time period, To set the time from the first period To Time The length of each period, To set the time period length, For the Time The monitoring screen, For the first period Monitoring screen To Time Monitoring screen A collection of For data corresponding operations, Make the first period Corresponding to the monitoring screen , No. Time Corresponding to the monitoring screen , No. Time Corresponding to the monitoring screen ; or The respective monitoring images in the multiple scene areas are gathered together.

6. The multi-scenario application system of a tethered drone according to claim 1, characterized in that: The data collection module works in the following way: The respective monitoring images in the multiple scene areas in the regional monitoring unit are simultaneously aggregated into the data collection module, or the respective monitoring images in the multiple scene areas in the regional monitoring unit are sequentially aggregated into the data collection module.

7. The multi-scenario application system of a tethered drone according to claim 1, characterized in that: The regional positioning distribution mode adopted by the feature calculation module works through the following formula (4): (4)； in, represents the contour area, For the The sequence number of the contour area, To detect the Is there any obstacle in the contour area? To analyze Is there any obstacle in the contour area? For the After the first contour area is separated from other contour areas, the Whether there are obstacles in the contour area; It means that each contour area is separated, and then analyze whether there are obstacles inside each contour area; or In order to gather the contour areas, each contour area is analyzed to see whether there are obstacles inside.

8. The multi-scenario application system of a tethered drone according to claim 1, characterized in that: The feature calculation module can determine whether there are obstacles in each of the scene areas; If there are no obstacles in each scene area, the position of each scene area remains unchanged; If there is an obstacle in at least one of the scene areas, the position of the scene area with the obstacle is re-transformed.

9. The multi-scenario application system of a tethered drone according to claim 8, characterized in that: The feature calculation module is connected to the execution unit, and the execution unit is used for the tethered drone to monitor the respective surveillance images in the multiple scene areas after the area sizes and positions of the multiple scene areas are determined.

10. The multi-scenario application system of a tethered drone according to claim 1, characterized in that: The area monitoring unit, the data collection module, the feature calculation module and the execution unit are each connected to a ground power source via a tethered cable.

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