A data perception intelligent processing method for low-altitude aircraft

Abstract

The present invention relates to the technical field of data processing, and particularly to a data perception intelligent processing method for low-altitude aircraft, which controls the aircraft to periodically acquire image information, establishes a coordinate system in the image information, calibrates a number of feature points in the image information, and obtains the coordinates corresponding to each feature point; determines 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 in the previous period; cleans each change distance; performs a process-based processing on the data of the aircraft, obtains the coordinate information of each feature point, determines the movement of the aircraft through the change of the coordinate information of each feature point, so as to accurately determine the actual operating condition of the aircraft as data basis, and timely adjusts the operating parameters of the aircraft when it is determined that the operation of the aircraft is abnormal, thereby improving the data processing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, 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 widely used, including drones, helicopters, light aircraft, etc. With the continuous development of technology, the requirements for the performance, safety, and intelligence of low-altitude aircraft are also getting higher and higher.

[0003] With the rapid development of drones, the management and control of low-altitude airspace face new challenges and opportunities, and various countries have increased their R & D investment.

[0004] Chinese Patent Publication No.: CN109739265B, discloses an aerial operation aircraft system, including: at least one accompanying aircraft for obtaining supplementary environmental information in the blind area of the vision of the operation aircraft; a data processor connected to the accompanying aircraft for generating an operation instruction according to the supplementary environmental information; an operation aircraft connected to the data processor for performing an aerial operation on an operation object or avoiding an obstacle according to the operation instruction; thus, the above technical solution has the following problems: it is impossible to accurately determine the actual operating conditions of the drone, and it is impossible to timely adjust the operating parameters of the aircraft when the operation of the aircraft is abnormal, resulting in low data processing efficiency. Summary of the Invention

[0005] Therefore, the present invention provides a data perception intelligent processing method for low-altitude aircraft to overcome the problems in the prior art that it is impossible to accurately determine the actual operating conditions of the drone, and it is impossible to timely adjust the operating parameters of the aircraft when the operation of the aircraft is 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, including:

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

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

[0009] S3, cleaning each change distance;

[0010] S4, determining an average mapping parameter based on each change distance after cleaning, and determining an angular discretization parameter based on the coordinates of each feature point obtained;

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

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

[0013] Or, determine that the operation of the aircraft is qualified, and control the aircraft to continue operating with 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, then filter out a single change distance;

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

[0017] In S4, the process of determining the average mapping parameter based on the cleaned change distances includes:

[0018] Determine the length of each change distance mapped on the Y-axis of the coordinate system one by one to 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, then determine that the operation of the aircraft is unqualified, and adjust the speed ratio of the front propeller and the rear propeller of the aircraft to the 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, then determine 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, then determine whether the operation of the aircraft is qualified based on the angle discretization parameter;

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

[0025] Further, adjust the rotation speed ratio of the rear propeller and the front propeller of the aircraft to the corresponding value based on the average mapping parameter, where:

[0026] The increase amplitude of the rotation speed ratio determined based on the average mapping parameter is inversely proportional to the average mapping parameter.

[0027] Further, the process of determining whether the operation of the aircraft is qualified based on the angle discretization 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 to obtain the angle parameter of the corresponding feature point;

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

[0030] If the angle discretization parameter is less than or equal to the preset angle discretization parameter, it is determined that the operation of the aircraft is unqualified, and the processing method for the aircraft is determined based on the mapping difference parameter;

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

[0032] Further, adjust the rotation speed of each propeller of the aircraft to the corresponding value based on the angle discretization parameter, where:

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

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

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

[0036] If the mapping difference parameter is less than or equal to the first preset mapping difference parameter, adjust the first preset average mapping parameter, the second preset average mapping parameter, and the third preset average mapping parameter to the corresponding values based on the difference between the height of the aircraft in the current cycle and the height in 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, determine the processing method for the aircraft based on the number of data filtered out in S3;

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

[0039] Further, based on the difference between the altitude of the aircraft in the current cycle and the altitude in 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, where:

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

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

[0042] If the number of data is less than or equal to the preset number of data, the angle discretization parameter adjusts the rotation speeds of the propellers of the aircraft to corresponding values;

[0043] If the number of data is greater than the preset number of data, 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, where:

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

[0046] Compared with the prior art, the beneficial effects of the present invention are as follows: The data of the aircraft is processed in a streamlined manner to obtain the coordinate information of each feature point. The movement of the aircraft is determined based on the change of the coordinate information of each feature point, so as to accurately determine the actual operating condition of the aircraft as data basis, and when it is determined that the operation of the aircraft is abnormal, the operating parameters of the aircraft are adjusted in time, improving the data processing efficiency.

[0047] Further, each change distance is cleaned and screened to remove outliers to improve the reliability of the data; the average mapping parameter is determined. The average mapping parameter characterizes the actual flight situation of the aircraft at the current commanded flight speed. When the average mapping parameter is less than or equal to the first preset average mapping parameter, in this case, the moving speed of the aircraft is too low. At this time, the rotation speed ratio of the front and rear propellers is adjusted so that the rotation speed of the rear is higher than that of the front, making the aircraft tilt forward, thereby changing the angle between each propeller and the vertical direction, so that each propeller generates a rear 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, it is determined whether the operation of the aircraft is qualified based on the angle discretization parameter. When the angle discretization parameter is greater than the preset angle discretization parameter, at this time, the discretization of each angle is large. In this case, the flight altitude decreases and the operating speed of the aircraft is too fast. At this time, the aircraft has a risk of falling. The rotation speeds of all propellers are uniformly increased to ensure the safe operation of the drone, further improving the data processing efficiency.

[0048] Further, when determining the abnormal operation of the aircraft, 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 at this time. Since the flight altitude of the aircraft is lower than the preset value, the correction determination criterion is adjusted at this time to continuously monitor the operation status of the aircraft again; when the mapping difference parameter is greater than the second preset mapping difference parameter, the data analysis has an error due to the too low amount of acquired data in this case. In this situation, the data cleaning standard is adjusted to increase the amount of data analysis and 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 in combination with the number of the screened data. When the data quantity is less than or equal to the preset data quantity, the amount of data for analysis is sufficient at this time. In this case, since the aircraft crashes and causes the aircraft to descend rapidly, the rotation speed of each propeller is adjusted at this time. While ensuring the precise operation of the aircraft, the data processing efficiency is further improved. Description of the Drawings

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

[0050] Figure 2 It is a logical decision diagram for determining whether the operation of the aircraft is qualified based on the average mapping parameter according to an embodiment of the present invention. Detailed Embodiment

[0051] 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.

[0052] The preferred embodiments of the present invention will be described below with reference to the drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention and do not limit the protection scope of the present invention.

[0053] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for 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, and therefore cannot be understood as a limitation of the present invention.

[0054] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" 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 an indirect connection through an intermediate medium, and it can be the communication inside 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 situations.

[0055] Please refer to Figure 1 and Figure 2 as shown, which are respectively the step flow chart of the data perception intelligent processing method for low-altitude aircraft and the logical decision chart for determining whether the operation of the aircraft is qualified based on the average mapping parameter in the embodiments of the present invention. A data perception intelligent processing method for low-altitude aircraft in the embodiments of the present invention includes:

[0056] S1, controlling the aircraft to periodically obtain image information, establishing a coordinate system in the image information, calibrating several feature points in the image information, and obtaining the coordinates corresponding to each feature point;

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

[0058] S3, cleaning each change distance;

[0059] S4, determining the average mapping parameter based on the change distances that have been cleaned, and determining the angle discretization parameter based on the coordinates of each feature point obtained;

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

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

[0062] Or, determining that the operation of the aircraft is qualified, and controlling the aircraft to continue operating with the current operating parameters.

[0063] Specifically, the specific method for determining the feature points in the image information is not limited. It can select several significant points on the detected edge as feature points through the Canny edge detection algorithm, or use a trained convolutional neural network to extract the feature points of the image. It can be understood that it is only necessary to calibrate the significant and referable features in the image information, which will not be elaborated here.

[0064] Specifically, the data of the aircraft is processed in a process flow manner to obtain the coordinate information of each feature point. The movement of the aircraft is determined based on the change of the coordinate information of each feature point, so as to accurately determine the actual operation status of the aircraft as data basis, and when the operation of the aircraft is determined to be abnormal, the operation parameters of the aircraft are adjusted in time, improving the data processing efficiency.

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

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

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

[0068] In the step S4, the process of determining the average mapping parameter based on the cleaned change distances includes:

[0069] Determine the length of each change distance mapped on the Y-axis of the coordinate system one by one to 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 the step 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 rotation speed ratio of the front propeller and the rear propeller of the aircraft is adjusted to the 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, it is determined 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 the 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 range [0.6Q0, 0.8Q0], the second preset average mapping parameter S2 is selected within the range [0.95Q0, 1.1Q0], and the third preset average mapping parameter S3 is selected within the range [1.3Q0, 1.5Q0], where Q0 is the average value of each historical average mapping parameter 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 range [1.13J0, 1.28J0], where J0 is the average value of the change distances of the image information of two adjacent cycles.

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

[0079] The increase amplitude of the rotation speed ratio determined based on the average mapping parameter is inversely proportional to the average mapping parameter.

[0080] In this embodiment, optionally,

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

[0082] If the average mapping parameter is less than or equal to the first preset mapping comparison threshold, adjust the rotation speed ratio to 1.3 times the initial rotation 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, adjust the rotation speed ratio to 1.21 times the initial rotation ratio;

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

[0085] The first preset mapping comparison threshold is taken as 0.71S1, and the second preset mapping comparison threshold is taken as 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 parameters 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, determine that the operation of the aircraft is unqualified, and determine the processing method for the aircraft based on the mapping difference parameter;

[0090] If the angle discrete parameter is greater than the preset angle discrete parameter, the rotation speeds of the propellers of the aircraft are adjusted to corresponding values based on the angle discrete parameter.

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

[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 commanded flight speed. When the average mapping parameter is less than or equal to the first preset average mapping parameter, in this case, the moving speed of the aircraft is too low. At this time, the rotation speed ratio of the front and rear propellers is adjusted so that the rotation speed of the rear is higher than that of the front, causing the aircraft to tilt forward, thereby changing the angles of the propellers with respect to the vertical direction so that the propellers generate a rear 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, it is determined whether the operation of the aircraft is qualified based on the angle discrete parameter. When the angle discrete parameter is greater than the preset angle discrete parameter, at this time, the discreteness of each angle is large. In this case, the flight altitude decreases and the operation speed of the aircraft is too fast. At this time, the aircraft has a risk of falling. The rotation speeds of all the propellers are uniformly increased to ensure the safe operation of the drone, further improving the data processing efficiency.

[0093] Specifically, the rotation speeds of the propellers of the aircraft are adjusted to corresponding values based on the angle discrete parameter, where:

[0094] The increase amplitude of the rotation speeds of the propellers of the aircraft determined based on the angle discrete parameter is proportional to the angle discrete parameter.

[0095] In this embodiment, optionally,

[0096] The angle discrete parameter is compared with the first preset discrete comparison threshold and the 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 speeds of the propellers of the aircraft are 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, the rotation speeds of the propellers of the aircraft are adjusted 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 speeds of the propellers of the aircraft are adjusted to 1.28 times the initial rotation speed;

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

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

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

[0103] If the mapping difference parameter is less than or equal to the first preset mapping difference parameter, adjust 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 in 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, determine the processing method for the aircraft based on the number of data filtered out in S3;

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

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

[0107] Specifically, adjust 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 in the previous cycle, where:

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

[0109] In this embodiment, optionally,

[0110] Compare the altitude difference with the first preset altitude difference and the second preset altitude difference;

[0111] If the altitude difference is less than or equal to the first preset altitude difference, adjust the first preset average mapping parameter to 0.91 times the initial first preset average mapping parameter, the second preset average mapping parameter to 0.91 times the initial second preset average mapping parameter, and the third preset average mapping parameter 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 of the initial first preset average mapping parameter, the second preset average mapping parameter is adjusted to 0.83 times of the initial second preset average mapping parameter, and the third preset average mapping parameter is adjusted to 0.83 times of 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 of the initial first preset average mapping parameter, the second preset average mapping parameter is adjusted to 0.73 times of the initial second preset average mapping parameter, and the third preset average mapping parameter is adjusted to 0.73 times of the initial third preset average mapping parameter;

[0114] The first preset height difference is taken as 0.21U0, and the second preset height difference is taken as 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 number of the data screened in S3 includes:

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

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

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

[0119] Specifically, when determining the abnormal operation of the aircraft, 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 at this time. Since the flight height of the aircraft is lower than the preset value, the judgment benchmark is corrected to continuously monitor the operation status of the aircraft again; when the mapping difference parameter is greater than the second preset mapping difference parameter, the data analysis has an error due to the too low amount of data obtained in this case. In this case, the data cleaning standard is adjusted to increase the amount of data analysis and 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 in combination with the number of the screened data. When the number of data is less than or equal to the preset number of data, the amount of data for analysis is sufficient at this time. In this case, due to the fall of the aircraft, the aircraft descends rapidly. At this time, the rotation speed of each propeller is adjusted, while ensuring the accurate operation of the aircraft, the data processing efficiency is further improved.

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

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

[0122] In this embodiment, optionally,

[0123] The variance of each of the change distances is denoted as the change variance;

[0124] The change variance is compared with a second preset change variance of a first preset change 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 taken as 4.59A0, and the second preset change variance is taken as 17.2A0, where A0 is the average value of each of the change distances before obtaining the cleaning data.

[0129] 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 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 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 within the protection scope of the present invention.

Claims

1. A data perception intelligent processing method for low-altitude aircraft, characterized in that Including: S1, controlling the aircraft to periodically acquire image information, establishing a coordinate system in the image information, calibrating several feature points in the image information, and obtaining 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 in the previous period; S3, cleaning each change distance, including if the change distance is greater than the preset change distance, screening out a single change distance; if the change distance is less than or equal to the preset change distance, retaining a single change distance; S4, determining the average mapping parameter based on each change distance after cleaning, including determining the length of each change distance mapped on the Y-axis of the coordinate system one by one, obtaining the corresponding mapping distance of the change distance, and solving the average value of each mapping distance to obtain the average mapping parameter; S5, the process of determining whether the operation of the aircraft is qualified based on the average mapping parameter and the angle discretization parameter, including: 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 rotation speed ratio of the front propeller and the rear propeller of the aircraft is adjusted to the 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, it is determined whether the operation of the aircraft is qualified based on the angle discretization 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 the processing method for the aircraft is determined based on the mapping difference parameter; The process of determining whether the operation of the aircraft is qualified based on the angle discretization parameter, including: Obtaining the included angle between the connection line of the coordinates of the feature point in the current period and the corresponding coordinates in the previous period in the same coordinate system and the Y-axis, and obtaining the angle parameter of the corresponding feature point; Solving the variance of the angle parameters of each feature point to obtain the angle discretization parameter; If the angle discretization parameter is less than or equal to the preset angle discretization parameter, it is determined that the operation of the aircraft is unqualified, and the processing method for the aircraft is determined based on the mapping difference parameter; If the angle discretization parameter is greater than the preset angle discretization parameter, the rotation speed of each propeller of the aircraft is adjusted to the corresponding value based on the angle discretization parameter; Wherein, the processing method is to adjust the data cleaning standard of S3 or adjust the rotation speed of each propeller of the aircraft to the corresponding value.

2. The data perception intelligent processing method for low-altitude aircraft according to claim 1, characterized in that Adjusting the rotation speed ratio of the rear propeller and the front propeller of the aircraft to the corresponding value based on the average mapping parameter, wherein: The increase amplitude of the rotation speed ratio determined based on the average mapping parameter is inversely proportional to the average mapping parameter.

3. The data perception intelligent processing method for low-altitude aircraft according to claim 2, characterized in that, Adjusting the rotation speed of each propeller of the aircraft to the corresponding value based on the angle discretization parameter, wherein: The increase amplitude of the rotation speed of each propeller of the aircraft determined based on the angle discretization parameter is directly proportional to the angle discretization parameter.

4. The data perception intelligent processing method for low-altitude aircraft according to claim 3, characterized in that, The process of determining the processing method for the aircraft based on the mapping difference parameter, including: Denoting the difference between the average mapping parameter and the third preset average mapping parameter as the mapping difference parameter; If the mapping difference parameter is less than or equal to the first preset mapping difference parameter, 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 in 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, the processing method for the aircraft is determined based on the number of data filtered 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.

5. The data perception intelligent processing method for low-altitude aircraft according to claim 4, wherein, 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 in the previous cycle, where: The reduction amplitudes of the first preset average mapping parameter, the second preset average mapping parameter, and the third preset average mapping parameter determined based on the altitude difference are proportional to the altitude difference.

6. The data perception intelligent processing method for low-altitude aircraft according to claim 5, wherein The process of determining the processing method for the aircraft based on the number of data filtered out in S3 includes: If the number of data is less than or equal to the preset number of data, the angular discretization parameter adjusts the rotation speeds of the respective propellers of the aircraft to corresponding values; If the number of data is greater than the preset number of data, 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, characterized in that The preset change distance is adjusted to a corresponding value based on the variance of each of the change distances, where: The reduction amplitude of the preset change distance determined based on the variance of each of the change distances is proportional to the variance of each of the change distances.

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