Unmanned aerial vehicle intelligent on-site disposal system and method

Abstract

The invention belongs to the technical field of unmanned aerial vehicle intelligent application, and particularly discloses an unmanned aerial vehicle intelligent on-site disposal system and method, and the system comprises ground station equipment which is used for transmitting a task instruction to an intelligent control terminal, and receiving the flight state information and on-site video information of an unmanned aerial vehicle, displaying the flight state information and the field video information; the intelligent control terminal is used for receiving the task instruction, making a flight route in response to the task instruction, generating a control instruction for controlling the unmanned aerial vehicle, controlling the flight state of the unmanned aerial vehicle based on the flight route, and controlling the unmanned aerial vehicle to perform accident processing according to the field video information and the control instruction; and the unmanned aerial vehicle is used for receiving the flight route and the control instruction to fly, executing a field processing task and feeding back the flight state information and the obtained field video information to the ground station equipment. According to the invention, the field accident processing efficiency of the unmanned aerial vehicle can be improved, and the labor cost and resources are saved.

Description

Technical Field

[0001] The present application belongs to the field of drone intelligent application technology, and more specifically, relates to a drone intelligent on-site disposal system and method. Background Art

[0002] At present, drone technology is becoming more and more mature, and the application scenarios of drones are becoming more and more extensive. The use of drones for on-site disposal has the characteristics of not being restricted by ground obstacles, being flexible and maneuverable, and not easy to be intercepted and countered. Drones can often fly to the scene as soon as possible by crossing the terrain and taking the shortest route, which is much faster than human coordination. When dealing with emergencies, they can arrive quickly and deal with them in advance. They can reduce casualties in special situations by timely delivering supplies and medicines or demarcating blockades, and also avoid the rapid spread of negative information on the Internet due to the gathering, watching, and filming of crowds on the scene.

[0003] Currently, when using drones for on-site disposal, only experienced pilots can judge the flight route and visually control the drone in real time to avoid obstacles and reach the special situation location. During the disposal, throwing objects to cover and transporting medicines also require precise manual operations, which places high technical ability requirements on users and lacks intelligent drone autonomous on-site disposal methods.

[0004] Therefore, how to realize automated operation of drones during operation, improve the efficiency of on-site processing of drones and save manpower is a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of the defects of the prior art, the purpose of this application is to provide a drone intelligent on-site disposal system and method, aiming to solve the problem that the current drone on-site disposal is manually operated, resulting in low processing efficiency.

[0006] To achieve the above objectives, the present application provides a UAV intelligent on-site disposal system, comprising:

[0007] The ground station equipment is used to send task instructions to the intelligent control terminal, receive the flight status information and on-site video information of the UAV, and display the flight status information and on-site video information;

[0008] An intelligent control terminal, configured to receive a mission instruction sent by the ground station device, formulate a flight route and generate a control instruction for controlling the UAV in response to the mission instruction, control the flight state of the UAV based on the flight route, and control the UAV to handle an accident according to the on-site video information and the control instruction;

[0009] The UAV is used to receive the flight route and control instructions generated by the intelligent control terminal to fly and perform on-site disposal tasks, and feed back the flight status information and the acquired on-site video information to the ground station equipment.

[0010] Optionally, the drone includes a flight control module, a digital image transmission module, and an optoelectronic tracking pod;

[0011] The flight control module is connected to the intelligent control terminal and is used to receive flight control instructions sent by the intelligent control terminal, and control the UAV to take off, land, cruise and change flight attitude in response to the control instructions;

[0012] The digital image transmission module is connected to the ground station device to establish a wireless communication link between the UAV and the ground station device, and to establish a digital transmission link for the UAV control and an image transmission link for the optoelectronic device;

[0013] The optoelectronic tracking pod is connected to the digital image transmission module and the intelligent control terminal, and sends the on-site video information to the ground station equipment through the wireless communication link, and simultaneously sends it to the intelligent control terminal.

[0014] Optionally, the drone further includes a shouting module, which is used to receive a shouting instruction sent by the intelligent control terminal, and shout to the ground in response to the shouting instruction to communicate with the target person or drive away the crowd;

[0015] Wherein, the shouting module is input through voice file input or 433M wireless communication input.

[0016] Optionally, the drone further comprises a thrower gimbal and a launch pod;

[0017] The thrower gimbal is used to receive the steering control instruction and the launch control instruction sent by the intelligent control terminal, and rotate and adjust the launch direction of the mount of the UAV in response to the steering control instruction and the launch control instruction to control the launch or throwing of the mount;

[0018] The launching pod is used to store the projectiles launched or thrown by the launcher platform and launch the projectiles to a designated location.

[0019] Optionally, the intelligent control terminal includes: a path planning module, a motion obstacle avoidance module, a GPS positioning module, a video image intelligent processing module, a command transmission module, a hit estimation module and an intelligent decision-making module;

[0020] The path planning module is used to calculate and generate the optimal route from the current position of the drone to the target position;

[0021] The motion obstacle avoidance module is used to calculate the speed and altitude of the drone, determine whether obstacles can be avoided under the speed and altitude conditions, and send obstacle avoidance maneuver instructions to the flight control module;

[0022] The GPS positioning module is used to locate the current position of the drone;

[0023] The video image intelligent processing module is used to identify the target image, detect the target position, and detect the surrounding personnel;

[0024] The command transmission module is used to receive the mission instructions and mission information sent by the ground station equipment;

[0025] The hit estimation module is used to estimate the probability of projectile hit according to the mission, the relative position relationship with the target and the flight attitude;

[0026] The intelligent decision-making module is used to decompose the mission instructions into flight control instructions, voice control instructions, pod steering instructions and launch control instructions.

[0027] Optionally, the flight control module is an APM flight control board, and the APM flight control board includes an open source interface for receiving the flight control instructions.

[0028] Optionally, the optoelectronic tracking pod is built based on the integration of visible light, infrared light and laser ranging.

[0029] Optionally, the digital image transmission module uses a 1.4G frequency band.

[0030] In a second aspect, the present application also provides a drone intelligent on-site disposal method, comprising:

[0031] Sending task instructions to the intelligent control terminal through the ground station equipment, receiving the flight status information and on-site video information of the UAV, and displaying the flight status information and on-site video information;

[0032] Receiving the mission instruction sent by the ground station device through the intelligent control terminal, formulating a flight route in response to the mission instruction, controlling the flight state of the UAV based on the flight route, and controlling the UAV to handle the accident according to the on-site video information;

[0033] The unmanned aerial vehicle receives the flight route generated by the intelligent control terminal to execute on-site disposal tasks, and feeds back the flight status information and the acquired on-site video information to the ground station equipment.

[0034] In a third aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0036] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0037] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0038] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art:

[0039] (1) The ground station equipment in this application can send mission instructions and receive the flight status information and on-site video information of the drone, thereby realizing real-time monitoring and management of the mission. The intelligent control terminal can receive mission instructions and formulate flight routes, generate control instructions, so that the drone can automatically perform flight missions and on-site accident handling tasks, improve the handling efficiency of the accident site, and thus save manpower costs and resources.

[0040] (2) The intelligent control terminal of the present application can control the flight status of the UAV according to the flight route, and control the UAV in real time according to the on-site video information and control instructions, thereby reducing the risk of flight accidents. The UAV can also receive the flight route and control instructions generated by the intelligent control terminal, perform on-site disposal tasks, and feed back the flight status information and on-site video information to the ground station equipment, thereby realizing comprehensive monitoring and management of the flight process.

[0041] (3) This application enables the emergency response process to be faster and more efficient through real-time communication and data exchange between ground station equipment, intelligent control terminals and drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is one of the structural schematic diagrams of the UAV intelligent on-site disposal system provided in the embodiment of the present application;

[0043] Figure 2This is the second structural diagram of the UAV intelligent on-site disposal system provided in the embodiment of the present application;

[0044] Figure 3 This is one of the flow charts of the UAV intelligent on-site disposal method provided in the embodiment of the present application;

[0045] Figure 4 This is the second flow chart of the UAV intelligent on-site disposal method provided in the embodiment of the present application;

[0046] Figure 5 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] The term "and / or" in this article is a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The symbol " / " in this article indicates that the associated objects are in an or relationship, for example, A / B means A or B.

[0049] The terms "first" and "second" in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of the objects. For example, a first response message and a second response message are used to distinguish different response messages rather than to describe a specific order of the response messages.

[0050] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0051] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more than two. For example, multiple processing units refer to two or more processing units, etc.; multiple elements refer to two or more elements, etc.

[0052] Next, the technical solutions provided in the embodiments of the present application are introduced.

[0053] Reference Figure 1 , the present application provides a drone intelligent on-site disposal system, comprising:

[0054] The ground station device 110 is used to send task instructions to the intelligent control terminal, receive the flight status information and on-site video information of the UAV, and display the flight status information and on-site video information;

[0055] The intelligent control terminal 120 is used to receive the mission instruction sent by the ground station device, formulate a flight route and generate a control instruction for controlling the UAV in response to the mission instruction, control the flight state of the UAV based on the flight route, and control the UAV to handle the accident according to the on-site video information and the control instruction;

[0056] The drone 130 is used to receive the flight route and control instructions generated by the intelligent control terminal to fly and perform on-site disposal tasks, and feed back the flight status information and the acquired on-site video information to the ground station equipment.

[0057] Specifically, the ground station equipment can send mission instructions to the intelligent control terminal and receive the flight status information and live video information of the drone. This information will then be displayed to the operator so that they can monitor the flight of the drone and the progress of the mission.

[0058] The ground station equipment can send mission instructions to the intelligent control terminal, such as flight route settings, mission requirements, etc., and receive the UAV's flight status information and real-time video information.

[0059] By analyzing and processing the received information, the ground station equipment can realize real-time monitoring and management of flight missions and rapid response to emergency situations.

[0060] The intelligent control terminal receives the mission instructions from the ground station equipment and generates flight routes and control instructions to control the flight of the drone. Based on the flight route, the intelligent control terminal can control the flight status of the drone. In addition, the intelligent control terminal can also handle accidents that the drone may encounter based on the on-site video information and control instructions.

[0061] The drone is the main body of the mission. It receives the flight route and control instructions generated by the intelligent control terminal and performs the flight mission. The drone feeds back the flight status information and the acquired on-site video information to the ground station equipment so that the operator can monitor the flight status and mission execution of the drone in real time.

[0062] In general, the system provided by the embodiment of the present application realizes remote control and monitoring of drones and real-time processing of on-site tasks through the collaborative work of ground station equipment, intelligent control terminals and drones. The ground station equipment sends task instructions and receives the flight status information and on-site video information of the drone, thereby realizing real-time monitoring and management of tasks. The intelligent control terminal can receive task instructions and formulate flight routes, and generate control instructions, so that the drone can realize automatic flight and efficiently perform flight missions and on-site accident handling tasks.

[0063] Optionally, the drone includes a flight control module, a digital image transmission module, and an optoelectronic tracking pod;

[0064] The flight control module is connected to the intelligent control terminal and is used to receive flight control instructions sent by the intelligent control terminal, and control the UAV to take off, land, cruise and change flight attitude in response to the control instructions;

[0065] The digital image transmission module is connected to the ground station device to establish a wireless communication link between the UAV and the ground station device, and to establish a digital transmission link for the UAV control and an image transmission link for the optoelectronic device;

[0066] The optoelectronic tracking pod is connected to the digital image transmission module and the intelligent control terminal, and sends the on-site video information to the ground station equipment through the wireless communication link, and simultaneously sends it to the intelligent control terminal.

[0067] Specifically, the flight control module, digital image transmission module and optoelectronic tracking pod in this application are sub-modules of the drone.

[0068] The flight control module in the embodiment of the present application is connected to the UAV and the intelligent control terminal, and is used to receive flight control instructions from the intelligent control terminal, control the UAV to take off, land, cruise, and change flight attitude, such as heading, altitude, speed, etc., to achieve stable aerial maneuvers of the UAV;

[0069] A digital image transmission module is connected to the drone and the ground station equipment to establish a wireless communication link between the drone and the portable ground station, and to establish a digital transmission link for drone control and an image transmission link for optoelectronic equipment;

[0070] The optoelectronic tracking pod is mounted on the UAV and connected to the digital image transmission module and the intelligent control terminal. The collected video data is sent to the portable ground station device through the wireless communication link, and is also sent to the intelligent control terminal simultaneously. The system adopts a combination of digital transmission link and optoelectronic device image transmission link to ensure a stable communication connection with the UAV and improve the reliability and stability of communication.

[0071] Optionally, the drone further includes a shouting module, which is used to receive a shouting instruction sent by the intelligent control terminal, and shout to the ground in response to the shouting instruction to communicate with the target person or drive away the crowd;

[0072] Wherein, the shouting module is input through voice file input or 433M wireless communication input.

[0073] Specifically, the shouting module in the embodiment of the present application is a loudspeaker, which is mounted on the drone and connected to the intelligent control terminal, and is used to receive shouting instructions from the intelligent control terminal to communicate with target personnel on the ground or drive away the crowd.

[0074] Furthermore, the wireless loudspeaker adopts two speaking modes: voice file input and 433M wireless communication, realizing two modes: the intelligent control terminal generates voice command speaking and the handheld device remote speaking.

[0075] The shouting module in the embodiment of the present application enables the drone to receive the shouting instructions sent by the intelligent control terminal and shout to the ground, so as to communicate with the target personnel in real time, thereby enhancing the interactive ability of the drone on the scene and helping to effectively convey instructions or warnings. In addition, in an emergency, the drone can use the shouting module to convey instructions or provide safety tips to trapped or threatened personnel, helping personnel to better deal with emergencies and improving emergency response capabilities.

[0076] In scenarios where it is necessary to disperse a crowd or maintain public order, the shouting module can serve as a warning and disperse the crowd by issuing warnings or instructions to the crowd.

[0077] Optionally, the drone further comprises a thrower gimbal and a launch pod;

[0078] The thrower gimbal is used to receive the steering control instruction and the launch control instruction sent by the intelligent control terminal, and rotate and adjust the launch direction of the mount of the UAV in response to the steering control instruction and the launch control instruction to control the launch or throwing of the mount;

[0079] The launching pod is used to store the projectiles launched or thrown by the launcher platform and launch the projectiles to a designated location.

[0080] Specifically, the thrower gimbal in this embodiment is mounted on the UAV and connected to the intelligent control terminal, and is used to receive steering control instructions and launch control instructions, rotate and adjust the launch direction of the mounted object, and control the launch or throwing. The launch pod is connected to the thrower gimbal, and is used to store the thrown object and launch it to a designated location.

[0081] The launch pod adopts a two-axis gimbal design, which can flexibly adjust the launch direction, improve delivery flexibility, and increase throwing accuracy.

[0082] Optionally, the intelligent control terminal includes: a path planning module, a motion obstacle avoidance module, a GPS positioning module, a video image intelligent processing module, a command transmission module, a hit estimation module and an intelligent decision-making module;

[0083] The path planning module is used to calculate and generate the optimal route from the current position of the drone to the target position;

[0084] The motion obstacle avoidance module is used to calculate the speed and altitude of the drone, determine whether obstacles can be avoided under the speed and altitude conditions, and send obstacle avoidance maneuver instructions to the flight control module;

[0085] The GPS positioning module is used to locate the current position of the drone;

[0086] The video image intelligent processing module is used to identify the target image, detect the target position, and detect the surrounding personnel;

[0087] The command transmission module is used to receive the mission instructions and mission information sent by the ground station equipment;

[0088] The hit estimation module is used to estimate the probability of projectile hit according to the mission, the relative position relationship with the target and the flight attitude;

[0089] The intelligent decision-making module is used to decompose the mission instructions into flight control instructions, voice control instructions, pod steering instructions and launch control instructions.

[0090] Through the path planning module, the drone can calculate the optimal route, thereby improving flight efficiency and accuracy and reducing energy consumption and time costs.

[0091] In the embodiment of the present application, the motion obstacle avoidance module can calculate the speed and height of the drone in real time and issue obstacle avoidance maneuvering instructions, thereby ensuring the safety of the drone during flight and reducing the risk of collision or accidents.

[0092] The GPS positioning module ensures the accurate positioning of the drone's current position, while the video image intelligent processing module can identify target images, detect target positions, and realize intelligent monitoring and identification of surrounding personnel, which helps to improve the accuracy and efficiency of task execution.

[0093] The command transmission module is responsible for receiving mission instructions and mission information sent by the ground station equipment, ensuring the timely communication and execution of instructions, and improving the response speed and flexibility of the UAV system.

[0094] The hit estimation module estimates the probability of a projectile hitting the target based on the task and the relative position relationship with the target, which helps to improve the hit rate and execution efficiency of the task.

[0095] Through the intelligent decision-making module, mission instructions can be decomposed into flight control instructions, voice control instructions, pod steering instructions and launch control instructions, realizing the intelligent allocation and optimization of mission instructions and improving the efficiency and accuracy of mission execution.

[0096] Optionally, the flight control module is an APM flight control board, and the APM flight control board includes an open source interface for receiving the flight control instructions.

[0097] Optionally, the optoelectronic tracking pod is built based on the integration of visible light, infrared light and laser ranging.

[0098] The optoelectronic tracking pod adopts an integrated design of visible light, infrared light and laser ranging. It can meet the imaging and ranging requirements of the target in different environments (day, night, rainy and foggy days, etc.). It also has the function of automatic target tracking and can automatically lock sensitive targets. At the same time, the visible light lens has a 30x zoom capability, which can effectively identify other types of small targets.

[0099] Optionally, the digital image transmission module uses a 1.4G frequency band. The 1.4G frequency band takes into account the high transmission rate of microwaves and the penetration and diffraction of ultra-high frequencies, avoids interference with common 2.4G / 5.8G frequency bands, and ensures stable and reliable data transmission.

[0100] Reference Figure 2 , Figure 2 It is a system architecture diagram of the UAV intelligent on-site disposal system of the present application, including: a UAV, an intelligent control terminal, and a portable ground station; the UAV includes a flight control module, a digital image transmission module, an optoelectronic pod, a loudspeaker, a thrower gimbal, and a launch pod.

[0101] Reference Figure 3 , the present application also provides a drone intelligent on-site disposal method, including:

[0102] S301. Sending task instructions to the intelligent control terminal through the ground station device, and receiving the flight status information and live video information of the drone, and displaying the flight status information and live video information;

[0103] S302. Receive the task instruction sent by the ground station device through the intelligent control terminal, formulate a flight route in response to the task instruction, control the flight status of the UAV based on the flight route, and control the UAV to handle the accident according to the on-site video information;

[0104] S303. Receive the flight route generated by the intelligent control terminal through the drone to perform on-site disposal tasks, and feed back the flight status information and the acquired on-site video information to the ground station equipment.

[0105] Reference Figure 4 , Figure 4 This is a specific flow chart of the UAV intelligent on-site disposal method of the embodiment of the present application. It includes:

[0106] S401. Receive the mission command and the UAV will take off;

[0107] S402. UAV optoelectronic aerial search;

[0108] S403. Discover the target / scene;

[0109] S404. Intelligent control decision;

[0110] S405. Remote control the drone to quickly approach the target site;

[0111] S406. Photoelectric ranging calculates the relative position between the UAV and the target;

[0112] S407. Determine whether the relative horizontal distance is greater than 1 and less than 3;

[0113] S408. Determine whether the relative vertical distance is greater than 1 and less than 3;

[0114] S408. The projector rotates and locks the target at the center of the field of view;

[0115] S409. Launching projectiles.

[0116] Reference Figure 5 Based on the method in the above embodiment, the embodiment of the present application provides an electronic device, which may include: a processor (processor) 510, a communication interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call the logic instructions in the memory 530 to execute the method in the above embodiment.

[0117] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0118] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0119] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0120] It is understandable that the processor in the embodiment of the present application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0121] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0122] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0123] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0124] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. An unmanned aerial vehicle intelligent on-site disposal system, characterized in that: include: The ground station equipment is used to send task instructions to the intelligent control terminal, receive the flight status information and on-site video information of the UAV, and display the flight status information and on-site video information; An intelligent control terminal, configured to receive a mission instruction sent by the ground station device, formulate a flight route and generate a control instruction for controlling the UAV in response to the mission instruction, control the flight state of the UAV based on the flight route, and control the UAV to handle an accident according to the on-site video information and the control instruction; The UAV is used to receive the flight route and control instructions generated by the intelligent control terminal to fly and perform on-site disposal tasks, and feed back the flight status information and the acquired on-site video information to the ground station equipment.

2. The UAV intelligent on-site disposal system according to claim 1 is characterized in that: The UAV includes a flight control module, a digital image transmission module and an optoelectronic tracking pod; The flight control module is connected to the intelligent control terminal and is used to receive flight control instructions sent by the intelligent control terminal, and control the UAV to take off, land, cruise and change flight attitude in response to the control instructions; The digital image transmission module is connected to the ground station device to establish a wireless communication link between the UAV and the ground station device, and to establish a digital transmission link for the UAV control and an image transmission link for the optoelectronic device; The optoelectronic tracking pod is connected to the digital image transmission module and the intelligent control terminal, and sends the on-site video information to the ground station equipment through the wireless communication link, and simultaneously sends it to the intelligent control terminal.

3. The UAV intelligent on-site disposal system according to claim 1 is characterized in that: The drone also includes a shouting module, which is used to receive a shouting instruction sent by the intelligent control terminal, and shout to the ground in response to the shouting instruction to communicate with the target person or drive away the crowd; Wherein, the shouting module is input through voice file input or 433M wireless communication input.

4. The UAV intelligent on-site disposal system according to claim 1, characterized in that: The drone also includes a thrower gimbal and a launch pod; The thrower gimbal is used to receive the steering control instruction and the launch control instruction sent by the intelligent control terminal, and rotate and adjust the launch direction of the mount of the UAV in response to the steering control instruction and the launch control instruction to control the launch or throwing of the mount; The launching pod is used to store the projectiles launched or thrown by the launcher platform and launch the projectiles to a designated location.

5. The UAV intelligent on-site disposal system according to claim 2, characterized in that: The intelligent control terminal includes: a path planning module, a motion obstacle avoidance module, a GPS positioning module, a video image intelligent processing module, a command transmission module, a hit estimation module and an intelligent decision-making module; The path planning module is used to calculate and generate the optimal route from the current position of the drone to the target position; The motion obstacle avoidance module is used to calculate the speed and altitude of the drone, determine whether obstacles can be avoided under the speed and altitude conditions, and send obstacle avoidance maneuver instructions to the flight control module; The GPS positioning module is used to locate the current position of the drone; The video image intelligent processing module is used to identify the target image, detect the target position, and detect the surrounding personnel; The command transmission module is used to receive the mission instructions and mission information sent by the ground station equipment; The hit estimation module is used to estimate the probability of projectile hit according to the mission, the relative position relationship with the target and the flight attitude; The intelligent decision-making module is used to decompose the mission instructions into flight control instructions, voice control instructions, pod steering instructions and launch control instructions.

6. The UAV intelligent on-site disposal system according to claim 2, characterized in that: The flight control module is an APM flight control board, and the APM flight control board includes an open source interface for receiving the flight control instructions.

7. The UAV intelligent on-site disposal system according to claim 2, characterized in that: The optoelectronic tracking pod is built based on the integration of visible light, infrared light and laser ranging.

8. The UAV intelligent on-site disposal system according to claim 2, characterized in that: The digital image transmission module uses the 1.4G frequency band.

9. A method for intelligent on-site disposal of unmanned aerial vehicles implemented by the intelligent on-site disposal system of unmanned aerial vehicles according to any one of claims 1 to 8, characterized in that: include: Sending task instructions to the intelligent control terminal through the ground station equipment, receiving the flight status information and on-site video information of the UAV, and displaying the flight status information and on-site video information; Receiving the mission instruction sent by the ground station device through the intelligent control terminal, formulating a flight route in response to the mission instruction, controlling the flight state of the UAV based on the flight route, and controlling the UAV to handle the accident according to the on-site video information; The unmanned aerial vehicle receives the flight route generated by the intelligent control terminal to execute on-site disposal tasks, and feeds back the flight status information and the acquired on-site video information to the ground station equipment.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed on a processor, the processor is caused to execute the method as claimed in claim 9.

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