Data sensing intelligent processing method for low-altitude aircraft

Abstract

The invention relates to the technical field of data processing, in particular to a data sensing intelligent processing method for a low-altitude aircraft, which comprises the following steps: controlling the aircraft to periodically acquire image information, establishing a coordinate system in the image information, calibrating a plurality of feature points in the image information, and acquiring coordinates corresponding to each feature point; determining the change distance of each feature point in two adjacent periods based on the coordinate of each feature point in the current period and the coordinate of each feature point in the previous period; all the changing distances are cleaned; according to the method, the data of the aircraft is subjected to process processing, the coordinate information of each feature point is obtained, and the movement condition of the aircraft is determined according to the change condition of the coordinate information of each feature point to serve as a data basis to accurately determine the actual operation condition of the aircraft. And the operation parameters of the aircraft are adjusted in time when the abnormal operation of the aircraft is determined, so that the data processing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a data perception intelligent processing method for low-altitude aircraft. Background Art

[0002] In today's aviation field, low-altitude aircraft are increasingly used, including drones, helicopters, light aircraft, etc. With the continuous development of technology, the performance, safety and intelligence requirements of low-altitude aircraft are becoming higher and higher.

[0003] With the rapid development of drones, low-altitude airspace control faces new challenges and opportunities, and countries have increased their investment in research and development.

[0004] Chinese patent publication number: CN109739265B, discloses an aerial work aircraft system, including: at least one accompanying aircraft, used to obtain supplementary environmental information within the blind spot of the working aircraft; a data processor that has a data connection with the accompanying aircraft, used to generate work instructions according to the supplementary environmental information; a working aircraft that has a data connection with the data processor, used to perform aerial work on the working object or avoid obstacles according to the work instructions; It can be seen that the above technical solution has the following problems: it is impossible to accurately determine the actual operating status of the drone, and it is impossible to adjust the operating parameters of the aircraft in time when the aircraft operation is determined to be abnormal, resulting in low data processing efficiency. Summary of the invention

[0005] To this end, the present invention provides a data perception intelligent processing method for low-altitude aircraft, so as to overcome the problem that the prior art cannot accurately determine the actual operating status of the UAV and cannot adjust the operating parameters of the aircraft in time when the aircraft operation is determined to be abnormal, resulting in low data processing efficiency.

[0006] To achieve the above object, the present invention provides a data perception intelligent processing method for low-altitude aircraft, comprising:

[0007] S1, controlling the aircraft to periodically acquire image information, establishing a coordinate system in the image information, calibrating a number of feature points in the image information, and acquiring the coordinates corresponding to each feature point;

[0008] S2, determining the change distance of each feature point in two adjacent periods based on the coordinates of each feature point in the current period and the coordinates of each feature point in the previous period;

[0009] S3, cleaning each change distance;

[0010] S4, determining an average mapping parameter based on each change distance of the completed cleaning, and determining an angle discrete parameter based on the coordinates of each feature point;

[0011] S5, determining whether the operation of the aircraft is qualified based on the average mapping parameter and the angle discrete parameter, including:

[0012] Determining that the operation of the aircraft is unqualified, and adjusting the speed ratio of the front propeller and the rear propeller of the aircraft, or determining a processing method for the aircraft based on the mapping difference parameter, wherein the processing method is to adjust the data cleaning standard of S3 or adjust the speed of each propeller of the aircraft to a corresponding value;

[0013] Or, determine that the operation of the aircraft is qualified, and control the aircraft to continue to operate using the current operating parameters.

[0014] Furthermore, in S3, the process of cleaning each change distance includes:

[0015] If the change distance is greater than the preset change distance, the single change distance is filtered out;

[0016] If the change distance is less than or equal to the preset change distance, the single change distance is retained;

[0017] In S4, the process of determining the average mapping parameter based on each change distance of the completed cleaning includes:

[0018] Determine the length of each change distance mapped on the Y axis of the coordinate system one by one, and obtain the mapping distance corresponding to the change distance;

[0019] Solve the average value of each mapping distance to obtain the average mapping parameter;

[0020] In S5, the process of determining whether the operation of the aircraft is qualified based on the average mapping parameter includes:

[0021] If the average mapping parameter is less than or equal to the first preset average mapping parameter, it is determined that the operation of the aircraft is unqualified, and the speed ratio of the front propeller and the rear propeller of the aircraft is adjusted to a corresponding value based on the average mapping parameter;

[0022] If the average mapping parameter is less than or equal to the second preset average mapping parameter and greater than the first preset average mapping parameter, it is determined that the operation of the aircraft is qualified;

[0023] If the average mapping parameter is less than or equal to the third preset average mapping parameter and greater than the second preset average mapping parameter, determining whether the operation of the aircraft is qualified based on the angle discrete parameter;

[0024] If the average mapping parameter is greater than the third preset average mapping parameter, it is determined that the operation of the aircraft is unqualified, and a processing method for the aircraft is determined based on the mapping difference parameter.

[0025] Further, the speed ratio of the rear-drive propeller and the front-drive propeller of the aircraft is adjusted to a corresponding value based on the average mapping parameter, wherein:

[0026] The magnitude of the increase in the speed ratio determined based on the average mapping variable is inversely proportional to the average mapping variable.

[0027] Furthermore, the process of determining whether the operation of the aircraft is qualified based on the angle discrete parameter includes:

[0028] Obtain the angle between the line connecting the coordinates of the feature point in the current cycle and the corresponding coordinates in the previous cycle in the same coordinate system and the Y-axis, and obtain the angle parameter of the corresponding feature point;

[0029] Solve the variance of the angle parameter of each feature point to obtain the angle discrete parameter;

[0030] If the angle discrete parameter is less than or equal to the preset angle discrete parameter, the operation of the aircraft is determined to be unqualified, and a treatment method for the aircraft is determined based on the mapping difference parameter;

[0031] If the angle discrete parameter is greater than the preset angle discrete parameter, the rotation speed of each propeller of the aircraft is adjusted to a corresponding value based on the angle discrete parameter.

[0032] Furthermore, the rotation speed of each propeller of the aircraft is adjusted to a corresponding value based on the angle discrete parameter, wherein:

[0033] The increase in the rotation speed of each propeller of the aircraft determined based on the angle discrete parameter is proportional to the angle discrete parameter.

[0034] Furthermore, the process of determining a processing method for the aircraft based on the mapping difference parameter includes:

[0035] Recording the difference between the average mapping parameter and the third preset average mapping parameter as a mapping difference parameter;

[0036] If the mapping difference parameter is less than or equal to the first preset mapping difference parameter, adjusting the first preset average mapping parameter, the second preset average mapping parameter and the third preset average mapping parameter to corresponding values ​​based on the difference between the altitude of the aircraft in the current cycle and the altitude of the previous cycle;

[0037] If the mapping difference parameter is less than or equal to the second preset mapping difference parameter and greater than the first preset mapping difference parameter, determining a processing method for the aircraft based on the amount of data screened out in S3;

[0038] If the mapping difference parameter is greater than the second preset mapping difference parameter, the preset change distance is adjusted to a corresponding value based on the variance of each of the change distances.

[0039] Further, based on the difference between the height of the aircraft in the current cycle and the height of the previous cycle, the first preset average mapping parameter, the second preset average mapping parameter and the third preset average mapping parameter are adjusted to corresponding values, wherein:

[0040] The reduction ranges of the first preset average mapping parameter, the second preset average mapping parameter, and the third preset average mapping parameter determined based on the height difference are proportional to the height difference.

[0041] Further, the process of determining a processing method for the aircraft based on the amount of data screened out in S3 includes:

[0042] If the number of data is less than or equal to the preset number of data, the angle discrete parameter adjusts the rotation speed of each propeller of the aircraft to the corresponding value;

[0043] If the data quantity is greater than the preset data quantity, the preset change distance is adjusted to a corresponding value based on the variance of each of the change distances.

[0044] Further, the preset change distance is adjusted to a corresponding value based on the variance of each of the change distances, wherein:

[0045] The reduction range of the preset change distance determined based on the variance of each change distance is proportional to the variance of each change distance.

[0046] Compared with the prior art, the beneficial effect of the present invention lies in that the data of the aircraft is processed in a process-based manner, the coordinate information of each feature point is obtained, and the movement of the aircraft is determined by the change of the coordinate information of each feature point, so as to accurately determine the actual operating status of the aircraft as a data basis, and the operating parameters of the aircraft are adjusted in time when the operation of the aircraft is determined to be abnormal, thereby improving data processing efficiency.

[0047] Furthermore, each change distance is cleaned and screened to remove abnormal values ​​to improve the reliability of the data; the average mapping parameter is determined, and the average mapping parameter characterizes the actual flight situation of the aircraft at the current command flight speed. When the average mapping parameter is less than or equal to the first preset average mapping parameter, the movement speed of the aircraft is too low in this case. At this time, the speed ratio of the front and rear propellers is adjusted to make the rear speed higher than the front speed, so that the aircraft tilts forward, thereby changing the angle of each propeller with the vertical direction, so that each propeller generates a backward thrust; when the average mapping parameter is less than or equal to the third preset average mapping parameter and greater than the second preset average mapping parameter, whether the operation of the aircraft is qualified is determined based on the angle discrete parameter. When the angle discrete parameter is greater than the preset angle discrete parameter, the discreteness of each angle is large. In this case, the flight altitude is reduced, and the aircraft runs too fast. At this time, there is a risk of the aircraft falling. The speed of each propeller is uniformly increased to ensure the safety of the drone operation, further improving the data processing efficiency.

[0048] Furthermore, when it is determined that the operation of the aircraft is abnormal, the processing method for the aircraft is determined based on the mapping difference parameter. When the mapping difference parameter is less than or equal to the first preset mapping difference parameter, the difference is small. Since the flight altitude of the aircraft is lower than the preset value, the judgment benchmark is corrected to re-continuously monitor the operation status of the aircraft; when the mapping difference parameter is greater than the second preset mapping difference parameter, errors occur in the data analysis due to the low amount of data obtained. In this case, the data cleaning standard is adjusted to increase the amount of data analysis to improve the analysis accuracy of the data; when the mapping difference parameter is less than or equal to the second preset mapping difference parameter and greater than the first preset mapping difference parameter, the processing method for the aircraft is comprehensively determined based on the number of screened data. When the amount of data is less than or equal to the preset amount of data, the amount of data for analysis is sufficient. In this case, the aircraft drops rapidly due to the fall of the aircraft. At this time, the speed of each propeller is adjusted to further improve the data processing efficiency while ensuring the precise operation of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a flowchart of the steps of the data perception intelligent processing method for low-altitude aircraft according to an embodiment of the present invention;

[0050] Figure 2 This is a logic decision diagram for determining whether the operation of an aircraft is qualified based on average mapping parameters according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the objects and advantages of the present invention more clearly understood, the present invention is 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.

[0052] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0053] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0054] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] See also Figure 1 as well as Figure 2 As shown, they are respectively a flow chart of the steps of the data perception intelligent processing method for low-altitude aircraft according to an embodiment of the present invention, and a logic determination diagram for determining whether the operation of the aircraft is qualified based on the average mapping parameter; a data perception intelligent processing method for low-altitude aircraft according to an embodiment of the present invention comprises:

[0056] S1, controlling the aircraft to periodically acquire image information, establishing a coordinate system in the image information, calibrating a number of feature points in the image information, and acquiring the coordinates corresponding to each feature point;

[0057] S2, determining the change distance of each feature point in two adjacent periods based on the coordinates of each feature point in the current period and the coordinates of each feature point in the previous period;

[0058] S3, cleaning each change distance;

[0059] S4, determining an average mapping parameter based on each change distance of the completed cleaning, and determining an angle discrete parameter based on the coordinates of each feature point;

[0060] S5, determining whether the operation of the aircraft is qualified based on the average mapping parameter and the angle discrete parameter, including:

[0061] Determining that the operation of the aircraft is unqualified, and adjusting the speed ratio of the front propeller and the rear propeller of the aircraft, or determining a processing method for the aircraft based on the mapping difference parameter, wherein the processing method is to adjust the data cleaning standard of S3 or adjust the speed of each propeller of the aircraft to a corresponding value;

[0062] Or, determine that the operation of the aircraft is qualified, and control the aircraft to continue to operate using the current operating parameters.

[0063] Specifically, there is no limitation on the specific method of determining the feature points in the image information. The Canny edge detection algorithm can be used to select several significant points on the detected edge as feature points, or a trained convolutional neural network can be used to extract the feature points of the image. It can be understood that the significant and referenceable features in the image information can be calibrated, and this will not be repeated.

[0064] Specifically, the data of the aircraft is processed in a process-based manner to obtain the coordinate information of each feature point. The movement of the aircraft is determined by the changes in the coordinate information of each feature point. This is used as the data basis to accurately determine the actual operating status of the aircraft. When abnormal operation of the aircraft is determined, the operating parameters of the aircraft are adjusted in time, thereby improving data processing efficiency.

[0065] Specifically, in S3, the process of cleaning each variable distance includes:

[0066] If the change distance is greater than the preset change distance, the single change distance is filtered out;

[0067] If the change distance is less than or equal to the preset change distance, the single change distance is retained;

[0068] In S4, the process of determining the average mapping parameter based on each change distance of the completed cleaning includes:

[0069] Determine the length of each change distance mapped on the Y axis of the coordinate system one by one, and obtain the mapping distance corresponding to the change distance;

[0070] Solve the average value of each mapping distance to obtain the average mapping parameter;

[0071] In S5, the process of determining whether the operation of the aircraft is qualified based on the average mapping parameter includes:

[0072] If the average mapping parameter is less than or equal to the first preset average mapping parameter, it is determined that the operation of the aircraft is unqualified, and the speed ratio of the front propeller and the rear propeller of the aircraft is adjusted to a corresponding value based on the average mapping parameter;

[0073] If the average mapping parameter is less than or equal to the second preset average mapping parameter and greater than the first preset average mapping parameter, it is determined that the operation of the aircraft is qualified;

[0074] If the average mapping parameter is less than or equal to the third preset average mapping parameter and greater than the second preset average mapping parameter, determining whether the operation of the aircraft is qualified based on the angle discrete parameter;

[0075] If the average mapping parameter is greater than the third preset average mapping parameter, it is determined that the operation of the aircraft is unqualified, and a processing method for the aircraft is determined based on the mapping difference parameter.

[0076] Specifically, the first preset average mapping parameter S1 is selected within the interval [0.6Q0, 0.8Q0], the second preset average mapping parameter S2 is selected within the interval [0.95Q0, 1.1Q0], and the third preset average mapping parameter S3 is selected within the interval [1.3Q0, 1.5Q0]. Q0 is the mean of the historical average mapping parameters under the corresponding flight instruction, and the corresponding flight instruction is the flight speed.

[0077] Specifically, the preset change distance B0 is selected within the interval [1.13J0, 1.28J0], and J0 is the average value of each change distance of the image information of two adjacent periods.

[0078] Specifically, the speed ratio of the rear-drive propeller and the front-drive propeller of the aircraft is adjusted to a corresponding value based on the average mapping parameter, where:

[0079] The magnitude of the increase in the speed ratio determined based on the average mapping variable is inversely proportional to the average mapping variable.

[0080] In this embodiment, optionally,

[0081] Comparing the average mapping parameter with a first preset mapping comparison threshold and a second preset mapping comparison threshold;

[0082] If the average mapping parameter is less than or equal to the first preset mapping comparison threshold, the speed ratio is adjusted to 1.3 times the initial speed ratio;

[0083] If the average mapping parameter is less than or equal to the second preset mapping comparison threshold and greater than the first preset mapping comparison threshold, the speed ratio is adjusted to 1.21 times the initial speed ratio;

[0084] If the average mapping parameter is greater than the second preset mapping comparison threshold, the speed ratio is adjusted to 1.11 times the initial speed ratio;

[0085] The first preset mapping comparison threshold is 0.71S1, and the second preset mapping comparison threshold is 0.82S1.

[0086] Specifically, the process of determining whether the operation of the aircraft is qualified based on the angle discrete parameter includes:

[0087] Obtain the angle between the line connecting the coordinates of the feature point in the current cycle and the corresponding coordinates in the previous cycle in the same coordinate system and the Y-axis, and obtain the angle parameter of the corresponding feature point;

[0088] Solve the variance of the angle parameter of each feature point to obtain the angle discrete parameter;

[0089] If the angle discrete parameter is less than or equal to the preset angle discrete parameter, the operation of the aircraft is determined to be unqualified, and a treatment method for the aircraft is determined based on the mapping difference parameter;

[0090] If the angle discrete parameter is greater than the preset angle discrete parameter, the rotation speed of each propeller of the aircraft is adjusted to a corresponding value based on the angle discrete parameter.

[0091] Specifically, the preset angle discrete parameter H0 is selected within the interval [0.09J0, 0.25J0], and J0 is the average value of each angle discrete parameter obtained.

[0092] Specifically, each change distance is cleaned and screened to remove outliers to improve the reliability of the data; the average mapping parameter is determined, and the average mapping parameter characterizes the actual flight situation of the aircraft at the current command flight speed. When the average mapping parameter is less than or equal to the first preset average mapping parameter, the movement speed of the aircraft is too low. At this time, the speed ratio of the front and rear propellers is adjusted to make the rear speed higher than the front speed, so that the aircraft tilts forward, thereby changing the angle of each propeller with the vertical direction, so that each propeller generates backward thrust; when the average mapping parameter is less than or equal to the third preset average mapping parameter and greater than the second preset average mapping parameter, whether the operation of the aircraft is qualified is determined based on the angle discrete parameter. When the angle discrete parameter is greater than the preset angle discrete parameter, the discreteness of each angle is large. In this case, the flight altitude is reduced, and the aircraft runs too fast. At this time, there is a risk of the aircraft falling. The speed of each propeller is uniformly increased to ensure the safety of the drone operation, further improving the data processing efficiency.

[0093] Specifically, the rotation speed of each propeller of the aircraft is adjusted to a corresponding value based on the angle discrete parameter, where:

[0094] The increase in the rotation speed of each propeller of the aircraft determined based on the angle discrete parameter is proportional to the angle discrete parameter.

[0095] In this embodiment, optionally,

[0096] Comparing the angle discrete parameter with a first preset discrete comparison threshold and a second preset discrete comparison threshold;

[0097] If the angle discrete parameter is less than or equal to the first preset discrete comparison threshold, the rotation speed of each propeller of the aircraft is adjusted to 1.11 times the initial rotation speed;

[0098] If the angle discrete parameter is less than or equal to the second preset discrete comparison threshold and greater than the first preset discrete comparison threshold, adjusting the rotation speed of each propeller of the aircraft to 1.21 times the initial rotation speed;

[0099] If the angle discrete parameter is greater than the second preset discrete comparison threshold, the rotation speed of each propeller of the aircraft is adjusted to 1.28 times the initial rotation speed;

[0100] The first preset discrete comparison threshold is 1.6H0, and the second preset discrete comparison threshold is 4.8H0.

[0101] Specifically, the process of determining the processing method for the aircraft based on the mapping difference parameter includes:

[0102] Recording the difference between the average mapping parameter and the third preset average mapping parameter as a mapping difference parameter;

[0103] If the mapping difference parameter is less than or equal to the first preset mapping difference parameter, adjusting the first preset average mapping parameter, the second preset average mapping parameter and the third preset average mapping parameter to corresponding values ​​based on the difference between the altitude of the aircraft in the current cycle and the altitude of the previous cycle;

[0104] If the mapping difference parameter is less than or equal to the second preset mapping difference parameter and greater than the first preset mapping difference parameter, determining a processing method for the aircraft based on the amount of data screened out in S3;

[0105] If the mapping difference parameter is greater than the second preset mapping difference parameter, the preset change distance is adjusted to a corresponding value based on the variance of each of the change distances.

[0106] Specifically, the first preset mapping difference parameter is 1.7S3, and the second preset mapping difference parameter is 2.3S3.

[0107] Specifically, based on the difference between the height of the aircraft in the current cycle and the height of the previous cycle, the first preset average mapping parameter, the second preset average mapping parameter and the third preset average mapping parameter are adjusted to corresponding values, wherein:

[0108] The reduction ranges of the first preset average mapping parameter, the second preset average mapping parameter, and the third preset average mapping parameter determined based on the height difference are proportional to the height difference.

[0109] In this embodiment, optionally,

[0110] Comparing the height difference value with a first preset height difference value and a second preset height difference value;

[0111] If the height difference is less than or equal to the first preset height difference, the first preset average mapping parameter is adjusted to 0.91 times the initial first preset average mapping parameter, the second preset average mapping parameter is adjusted to 0.91 times the initial second preset average mapping parameter, and the third preset average mapping parameter is adjusted to 0.91 times the initial third preset average mapping parameter;

[0112] If the height difference is less than or equal to the second preset height difference and greater than the first preset height difference, the first preset average mapping parameter is adjusted to 0.83 times the initial first preset average mapping parameter, the second preset average mapping parameter is adjusted to 0.83 times the initial second preset average mapping parameter, and the third preset average mapping parameter is adjusted to 0.83 times the initial third preset average mapping parameter;

[0113] If the height difference is greater than the second preset height difference, the first preset average mapping parameter is adjusted to 0.73 times the initial first preset average mapping parameter, the second preset average mapping parameter is adjusted to 0.73 times the initial second preset average mapping parameter, and the third preset average mapping parameter is adjusted to 0.73 times the initial third preset average mapping parameter;

[0114] The first preset height difference is 0.21U0, and the second preset height difference is 0.34U0, where U0 is the height of the previous cycle.

[0115] Specifically, the process of determining the processing method for the aircraft based on the amount of data screened out in S3 includes:

[0116] If the number of data is less than or equal to the preset number of data, the angle discrete parameter adjusts the rotation speed of each propeller of the aircraft to the corresponding value;

[0117] If the data quantity is greater than the preset data quantity, the preset change distance is adjusted to a corresponding value based on the variance of each of the change distances.

[0118] The preset data quantity is selected in the interval [0.2N0, 0.27N0], where N0 is the total number of feature points marked in a single image information.

[0119] Specifically, when it is determined that the aircraft is operating abnormally, the processing method for the aircraft is determined based on the mapping difference parameter. When the mapping difference parameter is less than or equal to the first preset mapping difference parameter, the difference is small. Since the flight altitude of the aircraft is lower than the preset value, the judgment benchmark is corrected to re-continuously monitor the operating status of the aircraft; when the mapping difference parameter is greater than the second preset mapping difference parameter, errors occur in the data analysis due to the low amount of data obtained. In this case, the data cleaning standard is adjusted to increase the amount of data analysis to improve the accuracy of data analysis; when the mapping difference parameter is less than or equal to the second preset mapping difference parameter and greater than the first preset mapping difference parameter, the processing method for the aircraft is comprehensively determined based on the number of screened data. When the amount of data is less than or equal to the preset amount of data, the amount of data for analysis is sufficient. In this case, the aircraft drops rapidly due to the fall of the aircraft. At this time, the speed of each propeller is adjusted to further improve the data processing efficiency while ensuring the precise operation of the aircraft.

[0120] Specifically, the preset change distance is adjusted to a corresponding value based on the variance of each of the change distances, wherein:

[0121] The reduction range of the preset change distance determined based on the variance of each change distance is proportional to the variance of each change distance.

[0122] In this embodiment, optionally,

[0123] Recording the variance of each change distance as a change variance;

[0124] comparing the variation variance with a second preset variation variance of the first preset variation variance;

[0125] If the change variance is less than or equal to the first preset change variance, the preset change distance is adjusted to 0.91 times the initial preset change distance;

[0126] If the change variance is less than or equal to the second preset change variance and greater than the first preset change variance, the preset change distance is adjusted to 0.81 times the initial preset change distance;

[0127] If the change variance is greater than the second preset change variance, the preset change distance is adjusted to 0.75 times the initial preset change distance;

[0128] The first preset change variance is 4.59A0, and the second preset change variance is 17.2A0, where A0 is the average value of each change distance before the cleaning data is obtained.

[0129] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand 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.

[0130] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, 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 data perception intelligent processing method for low-altitude aircraft, characterized in that: include: S1, controlling the aircraft to periodically acquire image information, establishing a coordinate system in the image information, calibrating a number of feature points in the image information, and acquiring the coordinates corresponding to each feature point; S2, determining the change distance of each feature point in two adjacent periods based on the coordinates of each feature point in the current period and the coordinates of each feature point in the previous period; S3, cleaning each change distance; S4, determining an average mapping parameter based on each change distance of the completed cleaning, and determining an angle discrete parameter based on the coordinates of each feature point; S5, determining whether the operation of the aircraft is qualified based on the average mapping parameter and the angle discrete parameter, including: Determining that the operation of the aircraft is unqualified, and adjusting the speed ratio of the front propeller and the rear propeller of the aircraft, or determining a processing method for the aircraft based on the mapping difference parameter, wherein the processing method is to adjust the data cleaning standard of S3 or adjust the speed of each propeller of the aircraft to a corresponding value; Or, determine that the operation of the aircraft is qualified, and control the aircraft to continue to operate using the current operating parameters.

2. The data perception intelligent processing method for low-altitude aircraft according to claim 1 is characterized in that: In S3, the process of cleaning each variable distance includes: If the change distance is greater than the preset change distance, the single change distance is filtered out; If the change distance is less than or equal to the preset change distance, the single change distance is retained; In S4, the process of determining the average mapping parameter based on each change distance of the completed cleaning includes: Determine the length of each change distance mapped on the Y axis of the coordinate system one by one, and obtain the mapping distance corresponding to the change distance; Solve the average value of each mapping distance to obtain the average mapping parameter; In S5, the process of determining whether the operation of the aircraft is qualified based on the average mapping parameter includes: If the average mapping parameter is less than or equal to the first preset average mapping parameter, it is determined that the operation of the aircraft is unqualified, and the speed ratio of the front propeller and the rear propeller of the aircraft is adjusted to a corresponding value based on the average mapping parameter; If the average mapping parameter is less than or equal to the second preset average mapping parameter and greater than the first preset average mapping parameter, it is determined that the operation of the aircraft is qualified; If the average mapping parameter is less than or equal to the third preset average mapping parameter and greater than the second preset average mapping parameter, determining whether the operation of the aircraft is qualified based on the angle discrete parameter; If the average mapping parameter is greater than the third preset average mapping parameter, it is determined that the operation of the aircraft is unqualified, and a processing method for the aircraft is determined based on the mapping difference parameter.

3. The data perception intelligent processing method for low-altitude aircraft according to claim 2 is characterized in that: The speed ratio of the rear-drive propeller and the front-drive propeller of the aircraft is adjusted to a corresponding value based on the average mapping parameter, where: The magnitude of the increase in the speed ratio determined based on the average mapping variable is inversely proportional to the average mapping variable.

4. The data perception intelligent processing method for low-altitude aircraft according to claim 3 is characterized in that: The process of determining whether the operation of an aircraft is qualified based on the angle discrete parameter includes: Obtain the angle between the line connecting the coordinates of the feature point in the current cycle and the corresponding coordinates in the previous cycle in the same coordinate system and the Y-axis, and obtain the angle parameter of the corresponding feature point; Solve the variance of the angle parameter of each feature point to obtain the angle discrete parameter; If the angle discrete parameter is less than or equal to the preset angle discrete parameter, the operation of the aircraft is determined to be unqualified, and a treatment method for the aircraft is determined based on the mapping difference parameter; If the angle discrete parameter is greater than the preset angle discrete parameter, the rotation speed of each propeller of the aircraft is adjusted to a corresponding value based on the angle discrete parameter.

5. The data perception intelligent processing method for low-altitude aircraft according to claim 4 is characterized in that: The speed of each propeller of the aircraft is adjusted to the corresponding value based on the angle discrete parameter, where: The increase in the rotation speed of each propeller of the aircraft determined based on the angle discrete parameter is proportional to the angle discrete parameter.

6. The data perception intelligent processing method for low-altitude aircraft according to claim 5 is characterized in that: The process of determining the processing method for the aircraft based on the mapping difference parameters includes: Recording the difference between the average mapping parameter and the third preset average mapping parameter as a mapping difference parameter; If the mapping difference parameter is less than or equal to the first preset mapping difference parameter, adjusting the first preset average mapping parameter, the second preset average mapping parameter and the third preset average mapping parameter to corresponding values ​​based on the difference between the altitude of the aircraft in the current cycle and the altitude of the previous cycle; If the mapping difference parameter is less than or equal to the second preset mapping difference parameter and greater than the first preset mapping difference parameter, determining a processing method for the aircraft based on the amount of data screened out in S3; If the mapping difference parameter is greater than the second preset mapping difference parameter, the preset change distance is adjusted to a corresponding value based on the variance of each of the change distances.

7. The data perception intelligent processing method for low-altitude aircraft according to claim 6 is characterized in that: The first preset average mapping parameter, the second preset average mapping parameter and the third preset average mapping parameter are adjusted to corresponding values ​​based on the difference between the altitude of the aircraft in the current cycle and the altitude of the previous cycle, wherein: The reduction ranges of the first preset average mapping parameter, the second preset average mapping parameter, and the third preset average mapping parameter determined based on the height difference are proportional to the height difference.

8. The data perception intelligent processing method for low-altitude aircraft according to claim 7 is characterized in that: The process of determining a processing method for the aircraft based on the amount of data filtered out in S3 includes: If the number of data is less than or equal to the preset number of data, the angle discrete parameter adjusts the rotation speed of each propeller of the aircraft to the corresponding value; If the data quantity is greater than the preset data quantity, the preset change distance is adjusted to a corresponding value based on the variance of each of the change distances.

9. The data perception intelligent processing method for low-altitude aircraft according to claim 8 is characterized in that: The preset change distance is adjusted to a corresponding value based on the variance of each of the change distances, wherein: The reduction range of the preset change distance determined based on the variance of each change distance is proportional to the variance of each change distance.

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