Unmanned aerial vehicle outdoor intelligent monitoring method and system

Abstract

The invention relates to the technical field of unmanned aerial vehicle outdoor monitoring, and discloses an unmanned aerial vehicle outdoor intelligent monitoring method, which comprises the steps that a battery data acquisition module respectively acquires real-time voltage data, real-time current data and real-time temperature data of an unmanned aerial vehicle battery; the battery data acquisition module acquires real-time voltage data, real-time current data and real-time temperature data once every one second. According to the unmanned aerial vehicle outdoor intelligent monitoring method, whether the height change rate of the unmanned aerial vehicle is abnormal or not is judged, and when the battery accidental fault of the unmanned aerial vehicle and the height change rate of the unmanned aerial vehicle are abnormal at the same time, the unmanned aerial vehicle control end sends information that the battery accidental fault of the unmanned aerial vehicle affects normal flight of the unmanned aerial vehicle; and the user is prompted to find a position to land the unmanned aerial vehicle in time, so that the situation that the user continues to fly without knowing the situation, the unmanned aerial vehicle crashes and is damaged, and personnel and properties around an unmanned aerial vehicle crash point are lost is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of outdoor monitoring of unmanned aerial vehicles, and specifically provides an outdoor intelligent monitoring method and system for unmanned aerial vehicles. Background Art

[0002] An unmanned aerial vehicle (UAV), also known as an unmanned aircraft, is an aircraft that can fly autonomously without human control. A UAV usually consists of a flight control system, a battery or engine, sensors, and communication equipment. According to different functions and uses, UAVs can be divided into various types, including multi-rotor UAVs (such as quadcopters), fixed-wing UAVs, hybrid UAVs, etc. The sizes of UAVs also vary, ranging from small portable consumer-grade UAVs to large professional military UAVs. UAVs have a wide range of applications in military, civilian, commercial, and other fields, such as for disaster monitoring, agricultural operations, power line inspection, traffic monitoring, aerial photography, etc. With the continuous development of technology, UAVs have become an important type of aircraft, providing people with a brand-new flight experience and services.

[0003] The energy supporting the flight of the UAV comes from the battery pack installed inside it. Currently, the control terminal of the UAV can see the remaining power of the battery pack of the UAV in real time, and can reasonably control the flight distance and flight time. However, in the event of an occasional battery failure, the control terminal cannot display the occasional battery failure, which may lead to the risk of crashing, causing damage to the UAV and losses to the personnel or property around the crash point of the UAV. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the present invention provides an outdoor intelligent monitoring method and system for unmanned aerial vehicles, which have the advantages of preventing users from continuing to fly without knowing it, ultimately resulting in the crash of the UAV, causing damage to the UAV and losses to the personnel and property around the crash point of the UAV, and solving the above problems.

[0006] (2) Technical Solutions

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] According to the first aspect of the present invention, an outdoor intelligent monitoring method for an unmanned aerial vehicle is provided. The method includes:

[0009] When the drone is flying, the battery data acquisition module collects the real-time voltage data, real-time current data, and real-time temperature data of the drone battery respectively. The battery data acquisition module collects the real-time voltage data, real-time current data, and real-time temperature data every 1 second. The real-time voltage data is represented as Dy, the real-time current data is represented as Dl, and the real-time temperature data is represented as Wd. The battery data acquisition module forms a voltage data set Dy from every 5 real-time voltage data respectively n 、Dy n+1 、...、Dy n+4 , forms a current data set Dl from every 5 real-time current data n 、Dl n+1 、...、Dl n+4 , and forms a temperature data set Wd from every 5 real-time temperature data n 、Wd n+1 、...、Wd n+4 . The battery data acquisition module sends the voltage data set, current data set, and temperature data set to the data processing module of the drone;

[0010] The data processing module preprocesses the data in the voltage data set, current data set, and temperature data set, and obtains the voltage calibration value Dyj, current calibration value Dlj, and temperature calibration value Wdj respectively. The data processing module sends the voltage calibration value Dyj, current calibration value Dlj, and temperature calibration value Wdj to the data analysis module; among them, the expression of the voltage calibration value Dyj is:

[0011]

[0012] In the formula, i = 1 means starting from the first data in the voltage data set, and the first value is Dy n , 5 means that a voltage data set has 5 real-time voltage data, The 5 in means calculating until the fifth data in the voltage data set, and the fifth data is Dy n+4 ;

[0013] The data analysis module temporarily stores the voltage calibration value Dyj, current calibration value Dlj, and temperature calibration value Wdj in its internal storage medium. The data analysis module calculates the corresponding voltage fluctuation value Dbd, current fluctuation value lbd, and temperature fluctuation value Wbd respectively for two adjacent voltage calibration values Dyj, current calibration values Dlj, and temperature calibration values Wdj; among them, the expression of the voltage fluctuation value Dbd is:

[0014] Dbd = Dyj - Dyj q

[0015] In the formula, Dyj qRepresents the previous voltage calibration value adjacent to the voltage calibration value Dyj obtained from this calculation, that is, the voltage calibration value calculated according to the algorithm from the previous voltage dataset of the current voltage dataset, Dyj - Dyj q Represents taking the absolute value of the difference between the two;

[0016] The data analysis module compares the voltage fluctuation value Dbd, current fluctuation value lbd, and temperature fluctuation value Wbd with the voltage fluctuation threshold Dbdyz, current fluctuation threshold lbdyz, and temperature fluctuation threshold Wbd respectively. When any two fluctuation values exceed the corresponding thresholds, it is determined that the UAV battery has an occasional failure. At this time, the data analysis module obtains the current flight altitude Gd from the flight log and the flight altitude Gd five seconds before the current flight altitude q ;

[0017] The data analysis module based on the current flight altitude Gd and the flight altitude Gd five seconds before the current flight altitude q Calculates the UAV flight altitude change rate Sl, and compares the UAV flight altitude change rate Sl with the preset flight altitude change rate threshold Slyz. When the UAV flight altitude change rate Sl exceeds the preset flight altitude change rate threshold Slyz, it is determined that the UAV flight altitude change rate is abnormal;

[0018] When both the UAV flight altitude change rate is abnormal and the UAV battery has an occasional failure occur simultaneously, the data analysis module sends a message to the UAV control terminal that the occasional failure of the UAV battery affects the normal flight of the UAV and it is necessary to land and repair or replace the battery; when only the UAV battery has an occasional failure and the UAV flight altitude change rate Sl does not exceed the preset flight altitude change rate threshold Slyz, it means that the occasional failure of the battery does not affect the normal flight of the UAV and it can continue to perform the flight mission, but the battery needs to be detected, maintained, or replaced.

[0019] Furthermore: The algorithm expression of the current calibration value Dlj is as follows;

[0020]

[0021] In the formula, i = 1 means starting the calculation from the first data in the current dataset, and the first value is Dl n , the 5 in the denominator means there are 5 real-time current data in a current dataset, the 5 in means calculating until the fifth data in the current dataset, and the fifth data is Dl n+4 .

[0022] Furthermore: The algorithm expression of the temperature calibration value WDj is as follows:

[0023]

[0024] In the formula, i = 1 indicates starting the calculation from the first value in the temperature dataset, and the first value is Wd n , and the 5 in the denominator indicates that there are 5 real-time temperature data in a temperature dataset, and the 5 in indicates calculating up to the fifth data in the temperature dataset, and the fifth data is Wd n+4 .

[0025] Furthermore: The algorithm expression of the current fluctuation value lbd is as follows:

[0026] lbd = Dlj - Dlj q

[0027] In the formula, Dlj q represents the previous current calibration value adjacent to the current calculated current calibration value Dlj, that is, the current calibration value calculated according to the algorithm from the previous current dataset of the current current dataset, and Dlj - Dlj q represents taking the absolute value of the difference between the two.

[0028] Furthermore: The algorithm expression of the temperature fluctuation value Wdb is as follows:

[0029] Wbd = Wdj - Wdj q

[0030] In the formula, Wdj q represents the previous temperature calibration value adjacent to the current calculated temperature calibration value Wdj, that is, the temperature calibration value calculated according to the algorithm from the previous temperature dataset of the current temperature dataset, and Wdj - Wdj q represents taking the absolute value of the difference between the two.

[0031] Furthermore: The algorithm expression of the change rate Sl of the UAV flight altitude is as follows:

[0032]

[0033] In the formula, represents the reciprocal of the time interval of 5 seconds between Gd and Gd q , represents the change ratio of the UAV flight altitude. By multiplying the change ratio of the UAV flight altitude by the reciprocal of the time interval of 5 seconds, the change rate of the change ratio of the UAV flight altitude per unit time of 5 can be obtained.

[0034] According to the second aspect of the present invention, a UAV outdoor intelligent monitoring system is provided. The system includes:

[0035] The battery data acquisition module is used to acquire real-time voltage data, real-time current data, and real-time temperature data every 1 second, and form a voltage data set, a current data set, and a temperature data set with every 5 real-time voltage data, real-time current data, and real-time temperature data. The battery data acquisition module sends the formed voltage data set, current data set, and temperature data set to the data processing module;

[0036] The data processing module is used to preprocess the data in the voltage data set, current data set, and temperature data set respectively to obtain the corresponding calibration values, and send them to the data analysis module;

[0037] The data analysis module is used to calculate the corresponding voltage fluctuation value Dbd, current fluctuation value lbd, and temperature fluctuation value Wbd respectively from the received multiple calibration values, and compare the voltage fluctuation value Dbd, current fluctuation value lbd, and temperature fluctuation value Wbd with the corresponding preset thresholds. When the two values exceed the corresponding thresholds, it is determined that the UAV battery has an occasional failure. At this time, the data analysis module obtains the current flight altitude Gd from the flight log and the flight altitude Gd in the previous 5 seconds of the current flight altitude q and calculates the UAV flight altitude change rate Sl, and then compares it with the flight altitude change rate threshold Slyz. When the UAV flight altitude change rate Sl exceeds the preset flight altitude change rate threshold Slyz, it is determined that the UAV flight altitude change rate is abnormal, and based on whether the UAV flight altitude change rate is abnormal and the impact of the occasional failure of the UAV battery on the normal flight of the UAV, the corresponding information is sent to the UAV control terminal;

[0038] The UAV control terminal is used to control the UAV flight and receive information about the impact of the occasional failure of the battery during UAV flight on normal flight.

[0039] According to the third aspect of the present invention, an electronic device is provided. The electronic device includes a memory and a processor, and a computer program is stored on the memory. When the computer program is executed by the processor, the UAV outdoor intelligent monitoring method described above is executed.

[0040] According to the fourth aspect of the present invention, a storage medium is provided. The computer program stored in the storage medium can be executed by one or more processors and can be used to implement the UAV outdoor intelligent monitoring method described above.

[0041] Compared with the prior art, the present invention provides a UAV outdoor intelligent monitoring method and system, which has the following beneficial effects:

[0042] In the present invention, the calculated voltage fluctuation value Dbd, current fluctuation value lbd, and temperature fluctuation value Wbd are respectively compared with the voltage fluctuation threshold Dbdyz, current fluctuation threshold lbdyz, and temperature fluctuation threshold Wbd. When any two of these values exceed the corresponding thresholds, it is determined that the drone battery has an occasional fault. At the same time, the flight altitude data is obtained from the flight log, and the drone flight altitude change rate Sl is calculated based on the flight altitude data. Then, the drone flight altitude change rate Sl is compared with the corresponding threshold to determine whether the drone altitude change rate is abnormal. When both the occasional fault of the drone battery and the abnormality of the drone altitude change rate occur, information indicating that the occasional fault of the drone battery affects the normal flight of the drone is sent through the drone control terminal, prompting the user to find a location to land the drone in a timely manner, avoiding the user from continuing to fly without knowing, which may ultimately lead to the crash of the drone, causing damage to the drone and losses to the personnel and property around the drone crash point. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In combination with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages, and aspects of the embodiments of the present invention will become more apparent. The drawings are used to better understand the solution and do not limit the present invention. In the drawings, the same or similar reference numerals represent the same or similar elements, where:

[0044] Figure 1 FIG. shows a schematic structural diagram of an outdoor intelligent monitoring system for drones according to an embodiment of the present invention;

[0045] Figure 2 FIG. shows a block diagram of an exemplary electronic device capable of implementing the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0047] Currently, the energy for UAV flight mainly relies on the battery carried inside. The battery often has its lifespan shortened due to the number of charging cycles, the ambient temperature, or internal structural damage caused by impact. The user cannot directly grasp the specific state of the battery. If the UAV battery flies with problems, it will result in occasional failures, thus affecting the normal flight of the UAV. However, currently, the control terminal of the UAV cannot grasp the specific state of the battery during flight. When an occasional battery failure occurs, the UAV crashes. In the lightest case, the UAV is damaged, and in the worst case, it causes harm to the personnel and property at the place where the UAV crashes. Therefore, an outdoor intelligent monitoring method for UAVs is proposed to monitor the battery state of UAVs during outdoor flight. The method includes the following steps:

[0048] S1. When the UAV is flying, the battery data acquisition module respectively acquires the real-time voltage data, real-time current data, and real-time temperature data of the UAV battery. The battery data acquisition module acquires the real-time voltage data, real-time current data, and real-time temperature data every 1 second. The battery data acquisition module respectively forms a voltage data set from every 5 real-time voltage data, a current data set from every 5 real-time current data, and a temperature data set from every 5 real-time temperature data. The battery data acquisition module sends the formed voltage data set, current data set, and temperature data set to the data processing module of the UAV. However, for the sake of distinction, the real-time voltage data is denoted as Dy, the real-time current data is denoted as Dl, and the real-time temperature data is denoted as Wd. The voltage data set is denoted as Dy n 、Dy n+1 、...、Dy n+4 、The current data set is denoted as Dl n 、Dl n+1 、...、Dl n+4 and the temperature data set is denoted as Wd n 、Wd n+1 、...、Wd n+4 It should be noted that the number of data in each data set must be the same. However, the number of data in each data set can also be set manually. The more data there is in the data set, the longer the acquisition period. When an occasional failure suddenly occurs, it may not be recognized immediately. The fewer data there is in the data set, the faster an occasional battery failure can be detected when it suddenly occurs. If the number of data in the data set is too small, for example, less than 5, it will consume a large amount of computing resources;

[0049] S2. The data processing module respectively preprocesses the data in the voltage data set, current data set, and temperature data set, and respectively obtains the voltage calibration value Dyj, current calibration value Dlj, and temperature calibration value Wdj, and then sends these values to the data analysis module; Among them:

[0050] The algorithm expression for the voltage calibration value Dyj is as follows:

[0051]

[0052] In the formula, i = 1 indicates starting the calculation from the first data in the voltage dataset, and the first value is Dy n , 5 indicates that there are 5 real-time voltage data in a voltage dataset, the 5 in n+4 ;

[0053] The algorithm expression for the current calibration value Dlj is as follows;

[0054]

[0055] In the formula, i = 1 indicates starting the calculation from the first data in the current dataset, and the first value is Dl n , the 5 in the denominator indicates that there are 5 real-time current data in a current dataset, the 5 in n+4 ;

[0056] The algorithm expression for the temperature calibration value Wdj is as follows:

[0057]

[0058] In the formula, i = 1 indicates starting the calculation from the first value in the temperature dataset, and the first value is Wd n , the 5 in the denominator indicates that there are 5 real-time temperature data in a temperature dataset, the 5 in n+4 ;

[0059] By calculating the voltage calibration value Dyj, the current calibration value Dlj, and the temperature calibration value Wdj respectively, the data in these corresponding datasets are cleaned, thereby making the results more accurate and improving the accuracy of the values generated by subsequent calculations, so as to facilitate providing more accurate judgments.

[0060] S3. After the data analysis module receives the voltage calibration value Dyj, current calibration value Dlj, and temperature calibration value WDj respectively, it temporarily stores these data values in the internal storage medium. The data analysis module calculates the voltage fluctuation value Dbd, current fluctuation value lbd, and temperature fluctuation value Wbd respectively for two adjacent voltage calibration values Dyj, current calibration values Dlj, and temperature calibration values Wdj. Two adjacent voltage calibration values Dyj, current calibration values Dlj, and temperature calibration values Wdj can be understood as the currently calculated voltage calibration value Dyj, current calibration value Dlj, and temperature calibration value Wdj, and the previously calculated voltage calibration value, current calibration value, and temperature calibration value temporarily stored in the storage medium. And the previously calculated voltage calibration value is denoted as Dyj q , the current calibration value is denoted as Dlj q and the temperature calibration value is denoted as Wdj q , and their corresponding algorithm formulas are as follows:

[0061] The algorithm for the voltage fluctuation value Dbd is expressed as follows:

[0062] Dbd = Dyj - Dyj q

[0063] In the formula, Dyj q represents the previous voltage calibration value adjacent to the currently calculated voltage calibration value Dyj, that is, the voltage calibration value calculated according to the algorithm for the previous voltage data set of the current voltage data set. Dyj - Dyj q represents taking the absolute value of the difference between the two;

[0064] The algorithm expression for the current fluctuation value lbd is as follows:

[0065] lbd = Dlj - Dlj q

[0066] In the formula, Dlj q represents the previous current calibration value adjacent to the currently calculated current calibration value Dlj, that is, the current calibration value calculated according to the algorithm for the previous current data set of the current current data set. Dlj - Dlj q represents taking the absolute value of the difference between the two;

[0067] The algorithm expression for the temperature fluctuation value Wdb is as follows:

[0068] Wbd = Wdj - Wdj q

[0069] In the formula, Wdj qDenote the previous temperature calibration value adjacent to the temperature calibration value Wdj obtained from this calculation, that is, the temperature calibration value calculated according to the algorithm from the previous temperature data set of the current temperature data set, Wdj - Wdj q Denote taking the absolute value of the difference between the two.

[0070] When there is an occasional failure in the battery of the drone, several data among its current data, voltage data, and temperature data will all show severe fluctuations. Therefore, calculating the fluctuation values of the corresponding data is useful for judging the fluctuation conditions of several important reference values of the battery during the flight of the drone, thereby serving as an important factor for judging whether the battery has an occasional failure. Moreover, these data cannot be directly grasped at the current drone control terminal. Usually, users only use the control terminal to master the reasonable allocation of the battery power for the flight range of the drone. When an occasional battery failure occurs, even when the battery level shows a full charge state on its operation terminal, a crash may still occur.

[0071] S4. The data analysis module respectively compares the calculated voltage fluctuation value Dbd, current fluctuation value lbd, and temperature fluctuation value Wbd with the voltage fluctuation threshold Dbdyz, current fluctuation threshold lbdyz, and temperature fluctuation threshold Wbd. When any two values exceed the corresponding thresholds, it is determined that the drone battery has an occasional failure. At this time, the data analysis module obtains the current flight altitude Gd from the flight log and the flight altitude Gd five seconds before the current flight altitude q ;

[0072] When the data analysis module determines that the drone battery has an occasional failure, it is necessary to obtain the flight altitude Gd from the flight log and the flight altitude Gd five seconds before the current flight altitude q The purpose is to determine whether the flight altitude of the drone has changed, and to evaluate whether the occasional battery failure affects the normal flight of the drone based on the change in the flight altitude value.

[0073] S5. The data analysis module calculates the flight altitude change rate Sl of the drone based on the current flight altitude Gd and the flight altitude Gd five seconds before the current flight altitude q and compares it with the preset flight altitude change rate threshold Slyz. When the flight altitude change rate Sl of the drone exceeds the preset flight altitude change rate threshold Slyz, it is determined that the flight altitude change rate of the drone is abnormal. The algorithm expression of the flight altitude change rate Sl of the drone is as follows:

[0074]

[0075] In the formula, Denote Gd and Gd q The reciprocal of the time interval of 5 seconds, It represents the change ratio of the UAV flight altitude. By multiplying the change ratio of the UAV flight altitude by the reciprocal of the time interval of 5 seconds, the change rate of the UAV flight altitude with a unit time of 5 can be obtained.

[0076] By calculating the change rate of the UAV flight altitude within 5 seconds, it is possible to determine the change in the flight altitude of the UAV within 5 seconds when an accidental failure occurs. Furthermore, the impact of the accidental battery failure on the UAV flight can be judged based on the change rate of the UAV flight altitude. For example, when the change rate is close to 0, it indicates that this accidental battery failure has no impact on the UAV flight. When the change rate is larger, it indicates that this accidental battery failure has a greater impact on the UAV flight.

[0077] S6. When both the abnormal change rate of the UAV flight altitude and the accidental failure of the UAV battery occur simultaneously, the data analysis module sends a message to the UAV control terminal that the accidental failure of the UAV battery affects the normal flight of the UAV, and it is necessary to land to repair the battery or replace the battery.

[0078] As mentioned in S5, when both the abnormal change rate of the UAV flight altitude and the accidental failure of the UAV battery occur simultaneously, it indicates that this accidental battery failure has already affected the current UAV flight. Therefore, it is necessary to send a message to the UAV control terminal that the accidental failure of the UAV battery affects the normal flight of the UAV, prompting the user to find a location to land the UAV in a timely manner, to avoid the user continuing to fly without knowing, which may ultimately lead to the crash of the UAV, causing damage to the UAV and losses to the personnel and property around the UAV crash point.

[0079] S7. When only the accidental failure of the UAV battery occurs and the change rate Sl of the UAV flight altitude is within the value range of the preset change rate threshold Slyz of the flight altitude, it indicates that the accidental battery failure does not affect the normal flight of the UAV and it can continue to execute the flight mission, but it is necessary to detect, maintain or replace the battery.

[0080] As mentioned in S5, at this time, the accidental failure of the battery has no impact on the UAV flight, and a message is sent to the user through the UAV control terminal that the battery has an accidental failure but does not affect the UAV flight. Therefore, the user can fly normally this time, but after the flight is completed, it is necessary to check the battery of the UAV in a timely manner, troubleshoot and repair its faults, so as to ensure the safety of the next UAV flight.

[0081] Figure 1 It shows a schematic structural diagram of the UAV outdoor intelligent monitoring system according to an embodiment of the present invention. The system includes:

[0082] The battery data acquisition module 111 is used to collect real-time voltage data, real-time current data, and real-time temperature data every 1 second, and form a voltage data set, a current data set, and a temperature data set with every 5 real-time voltage data, real-time current data, and real-time temperature data. The battery data acquisition module 111 sends the formed voltage data set, current data set, and temperature data set to the data processing module 112;

[0083] The data processing module 112 is used to preprocess the data in the voltage data set, current data set, and temperature data set respectively to obtain corresponding calibration values, and send them to the data analysis module 113;

[0084] The data analysis module 113 is used to calculate the corresponding voltage fluctuation value Dbd, current fluctuation value lbd, and temperature fluctuation value Wbd from the received multiple calibration values respectively, and compare the voltage fluctuation value Dbd, current fluctuation value lbd, and temperature fluctuation value Wbd with the preset corresponding thresholds. When the two values exceed the corresponding thresholds, it is determined that an occasional failure occurs in the UAV battery. At this time, the data analysis module 113 obtains the current flight altitude Gd from the flight log and the flight altitude Gd 5 seconds before the current flight altitude q After calculating the UAV flight altitude change rate Sl and comparing it with the flight altitude change rate threshold Slyz, when the UAV flight altitude change rate Sl exceeds the preset flight altitude change rate threshold Slyz, it is determined that the UAV flight altitude change rate is abnormal, and based on whether the UAV flight altitude change rate is abnormal and the impact of the occasional failure of the UAV battery on the normal flight of the UAV, the corresponding information is sent to the UAV control terminal 114;

[0085] The UAV control terminal 114 is used to control the UAV flight and receive information on the impact of the occasional failure of the battery during UAV flight on the normal flight.

[0086] According to the embodiments of the present invention, the present invention also provides an electronic device and a readable storage medium.

[0087] Figure 2 The schematic block diagram of the electronic device that can be used to implement the embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as, for example, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, for example, personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0088] The electronic device includes a computing unit 201, which can perform various appropriate actions and processes according to the computer program stored in the ROM 202 or the computer program loaded into the RAM 203 from the storage unit 208. In the RAM 203, various programs and data required for the operation of the electronic device can also be stored. The computing unit 201, the ROM 202, and the RAM 203 are connected to each other via a bus 204. The I / O interface 205 is also connected to the bus 204.

[0089] Multiple components in the electronic device are connected to the I / O interface 205, including: an input unit 206, such as a keyboard, a mouse, etc.; an output unit 207, such as various types of displays, speakers, etc.; a storage unit 208, such as a magnetic disk, an optical disc, etc.; and a communication unit 209, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 209 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0090] The computing unit 201 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 201 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 201 executes the various methods and processes described above. For example, in some embodiments, the outdoor intelligent monitoring method for drones can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 208. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device via the ROM 202 and / or the communication unit 209. When the computer program is loaded into the RAM 203 and executed by the computing unit 201, one or more steps of the outdoor intelligent monitoring method for drones described above can be executed. Alternatively, in other embodiments, the computing unit 201 can be configured to execute the outdoor intelligent monitoring method for drones by any other appropriate means (e.g., by means of firmware).

[0091] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0092] The program code for implementing the methods of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, executed partially on the machine as an independent software package and partially on a remote machine, or executed entirely on a remote machine or server.

[0093] In the context of the present invention, a readable storage medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A readable storage medium can be a machine-readable signal medium or a machine-readable storage medium. A readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0094] To provide for interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0095] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0096] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The relationship of the client and the server is generated by computer programs running on the respective computers and having a client - server relationship with each other. The server can be a cloud server, or a server of a distributed system, or a server incorporating a blockchain.

[0097] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention, and the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A method for outdoor intelligent monitoring of unmanned aerial vehicles, characterized in that: include: When the drone is flying, the battery data acquisition module collects the real-time voltage data, real-time current data and real-time temperature data of the drone battery. The battery data acquisition module collects the real-time voltage data, real-time current data and real-time temperature data every 1 second, and the real-time voltage data is expressed as Dy, the real-time current data is expressed as Dl, and the real-time temperature data is expressed as Wd. The battery data acquisition module forms a voltage data set {Dy} for every 5 real-time voltage data. n 、Dy n+1 、...、Dy n+4 }, every 5 real-time current data form a current data set {Dl n 、Dl n+1 , ..., Dl n+4 }, every 5 real-time temperature data form a temperature data set {Wd n 、Wd n+1 , ..., Wd n+4 }, the battery data acquisition module sends the voltage data set, the current data set and the temperature data set to the data processing module of the drone; The data processing module preprocesses the data in the voltage data set, the current data set and the temperature data set to obtain the voltage calibration value Dyj, the current calibration value Dlj and the temperature calibration value Wdj respectively, and the data processing module sends the voltage calibration value Dyj, the current calibration value Dlj and the temperature calibration value Wdj to the data analysis module; wherein the expression of the voltage calibration value Dyj is: In the formula, i=1 means starting from the first data in the voltage data set, and the first value is Dy n , 5 means that a voltage data set has 5 real-time voltage data. The 5 in the figure indicates that the calculation ends at the fifth data in the voltage data set. The fifth data is Dy n+4 ; The data analysis module temporarily stores the voltage calibration value Dyj, the current calibration value Dlj and the temperature calibration value Wdj in its internal storage medium. The data analysis module calculates the corresponding voltage fluctuation value Dbd, the current fluctuation value lbd and the temperature fluctuation value Wbd for two adjacent voltage calibration values ​​Dyj, current calibration values ​​Dlj and temperature calibration values ​​Wdj respectively; wherein the expression of the voltage fluctuation value Dbd is: Dbd=|Dyj-Dyj q In the formula, Dyj q Indicates the previous voltage calibration value adjacent to the voltage calibration value Dyj calculated this time, that is, the voltage calibration value calculated by the algorithm for the previous voltage data set of the current voltage data set, Dyj-Dyj q | indicates that the difference between the two is the absolute value; The data analysis module compares the voltage fluctuation value Dbd, the current fluctuation value lbd and the temperature fluctuation value Wbd with the voltage fluctuation threshold value Dbdyz, the current fluctuation threshold value lbdyz and the temperature fluctuation threshold value Wbd respectively. When any two fluctuation values ​​exceed the corresponding threshold values, it is determined that the drone battery has an occasional failure. At this time, the data analysis module obtains the current flight altitude Gd and the flight altitude Gd 5 seconds before the current flight altitude from the flight log. q ; The data analysis module calculates the current flight altitude Gd and the flight altitude Gd of the previous 5 seconds. q Calculate the drone flight altitude change rate S1, and compare the drone flight altitude change rate S1 with a preset flight altitude change rate threshold Slyz. When the drone flight altitude change rate S1 exceeds the preset flight altitude change rate threshold Slyz, determine that the drone flight altitude change rate is abnormal; When the drone's flight altitude change rate is abnormal and the drone's battery has an occasional failure, the data analysis module sends a signal to the drone control end that the drone's battery has an occasional failure that affects the drone's normal flight and requires the drone to land to repair the battery or replace the battery; when only the drone's battery has an occasional failure and the drone's flight altitude change rate Sl does not exceed the preset flight altitude change rate threshold Slyz, it means that the occasional battery failure does not affect the drone's normal flight and it can continue to perform flight missions, but the battery needs to be inspected, maintained or replaced.

2. The unmanned aerial vehicle outdoor intelligent monitoring method according to claim 1, characterized in that: The algorithm expression of the current calibration value Dlj is as follows: In the formula, i=1 means starting from the first data in the current data set, and the first value is Dl n , the 5 in the denominator means that there are 5 real-time current data in one current data set. The 5 in the figure indicates that the calculation ends at the fifth data in the current data set, and the fifth data is D1. n+4 .

3. The method for outdoor intelligent monitoring of unmanned aerial vehicles according to claim 2, characterized in that: The temperature calibration value WDj algorithm expression is as follows: In the formula, i=1 means starting from the first value in the temperature data set, and the first value is Wd n , the 5 in the denominator means there are 5 real-time temperature data in a temperature data set. The 5 in the calculation indicates that the fifth data in the temperature data set is calculated. The fifth data is Wd n+4 .

4. The method for outdoor intelligent monitoring of unmanned aerial vehicles according to claim 3, characterized in that: The current fluctuation value lbd algorithm expression is as follows: lbd=|Dlj-Dlj q | In the formula, Dlj q Indicates the previous current calibration value adjacent to the current calibration value Dlj calculated this time, that is, the current calibration value calculated by the algorithm for the previous current data set of the current current data set, Dlj-Dlj q | indicates the absolute value of the difference between the two.

5. The method for outdoor intelligent monitoring of unmanned aerial vehicles according to claim 4, characterized in that: The temperature fluctuation value Wdb algorithm expression is as follows: Wbd=|Wdj-Wdj q | In the formula, Wdj q Indicates the previous temperature calibration value adjacent to the temperature calibration value Wdj calculated this time, that is, the temperature calibration value calculated by the algorithm for the previous temperature data set of the current temperature data set, |Wdj-Wdj q | indicates the absolute value of the difference between the two.

6. The method for outdoor intelligent monitoring of unmanned aerial vehicles according to claim 5, characterized in that: The algorithm expression of the UAV flight altitude change rate S1 is as follows: In the formula, Gd and Gd q The countdown of the time interval is 5 seconds. It represents the change ratio of the UAV's flight altitude. By multiplying the change ratio of the UAV's flight altitude by the inverse of the time interval of 5 seconds, we can get the change rate of the UAV's flight altitude per unit time of 5.

7. An unmanned aerial vehicle outdoor intelligent monitoring system, based on the unmanned aerial vehicle outdoor intelligent monitoring method according to any one of claims 1 to 6, characterized in that: include: The battery data acquisition module is used to collect real-time voltage data, real-time current data and real-time temperature data once every 1 second, and form a voltage data set, a current data set and a temperature data set for every 5 real-time voltage data, real-time current data and real-time temperature data. The battery data acquisition module sends the formed voltage data set, current data set and temperature data set to the data processing module; A data processing module is used to pre-process the data in the voltage data set, the current data set and the temperature data set to obtain corresponding calibration values, and send them to the data analysis module; The data analysis module is used to calculate the corresponding voltage fluctuation value Dbd, current fluctuation value lbd and temperature fluctuation value Wbd from the received multiple calibration values, and compare the voltage fluctuation value Dbd, current fluctuation value lbd and temperature fluctuation value Wbd with the preset corresponding thresholds. When the two values ​​exceed the corresponding thresholds, it is determined that the drone battery has an occasional failure. At this time, the data analysis module obtains the current flight altitude Gd and the flight altitude Gd 5 seconds before the current flight altitude from the flight log. q , and after calculating the drone's flight altitude change rate Sl, compare it with the flight altitude change rate threshold Slyz. When the drone's flight altitude change rate Sl exceeds the preset flight altitude change rate threshold Slyz, the drone's flight altitude change rate is determined to be abnormal, and based on whether the drone's flight altitude change rate is abnormal and the impact of occasional failures of the drone's battery on the normal flight of the drone, the corresponding information is sent to the drone control end; The drone control terminal is used to control the flight of the drone and receive information about the impact of occasional battery failure on normal flight during flight.

8. An electronic device, characterized in that: It comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the unmanned aerial vehicle outdoor intelligent monitoring method as described in any one of claims 1 to 6 is executed.

9. A storage medium, characterized in that: The computer program stored in the storage medium can be executed by one or more processors and can be used to implement the outdoor intelligent monitoring method for unmanned aerial vehicles as described in any one of claims 1 to 6.

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