Unmanned aerial vehicle operation control method based on remote communication

Abstract

The invention discloses an unmanned aerial vehicle operation control method based on remote communication, relates to the technical field of unmanned aerial vehicle control, and solves the technical problem that in the prior art, remote communication transmission control cannot be performed in a targeted manner when data needs to be transmitted and signal interference occurs, so that the data transmission efficiency is reduced, in particular to crack identification. Propeller crack identification is carried out in the flight stage of the unmanned aerial vehicle; flight influence detection: detecting the surrounding environment of the unmanned aerial vehicle after determining that the unmanned aerial vehicle has no defect; performing identification detection on the flight path deviation of the unmanned aerial vehicle after eliminating the external influence interference on the path movement deviation; and remote communication control: performing remote communication control when the unmanned aerial vehicle performs multi-scene operation.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control technology, specifically to a UAV operation control method based on remote communication. Background Technology

[0002] The core of drone operation control is to ensure flight safety, efficiency and compliance through full-process management, covering the entire chain from pre-flight preparation to in-flight monitoring, emergency handling and post-flight summary. Risk prevention and regulatory compliance are key throughout the entire process.

[0003] However, in existing technologies, drones cannot effectively manage their operation and control based on their own defect identification and flight environment impact assessment, which reduces the drone's flight efficiency. Furthermore, they cannot identify and detect real-time trajectory deviations, leading to a decrease in the accuracy of drone flight control decisions. In addition, they cannot perform targeted remote communication transmission control when data needs to be transmitted and signal interference occurs, resulting in a decrease in data transmission efficiency.

[0004] To address the aforementioned technical shortcomings, a solution is proposed. Summary of the Invention

[0005] The purpose of this invention is to solve the problems mentioned above by proposing a method for controlling the operation of unmanned aerial vehicles (UAVs) based on remote communication.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] A remote communication-based UAV operation control method, the process of which is as follows:

[0008] Crack identification: identifying propeller cracks during the flight phase of a drone.

[0009] Flight impact detection involves inspecting the drone's surrounding environment after confirming that the drone itself is free of defects.

[0010] After eliminating external interference, the trajectory deviation of the UAV is identified and detected.

[0011] Remote communication control: When drones are performing operations in multiple scenarios, remote communication control is used.

[0012] In a preferred embodiment of the present invention, the crack identification process is as follows:

[0013] Images of the fuselage and propeller are collected and transmitted to the UAV control tower. The propeller profile is determined through real-time image comparison. Airflow monitoring is performed, and the airflow trajectory when the UAV breaks through the wind is recorded. The maximum wind resistance at the moment of breaking through the wind is obtained based on the sensors.

[0014] According to image comparison, the propeller contour in the real-time image is recognized, the picture position of the propeller is determined, the display parameters are counted, and the floating change of the display parameters is recorded.

[0015] If the floating span of the adjacent pictures corresponding to the display parameters exceeds the parameter floating span threshold, and the floating span of the corresponding display parameters in the continuous pictures does not recover to the set safe floating range, it indicates that the propeller position changes in shape, and further monitoring is performed.

[0016] As a preferred embodiment of the present application, the further monitoring process is as follows: after the current picture is generated, the real-time breaking wind airflow trajectory of the unmanned aerial vehicle and the maximum wind resistance at the breaking wind time are monitored.

[0017] As a preferred embodiment of the present application, the flight influence detection process is as follows:

[0018] The wind speed of the flight environment is collected and processed; a short-term prediction formula is constructed according to the real-time risk; a predicted value is obtained according to the set short-term prediction formula, and a difference comparison is performed with the actual wind speed value to obtain a wind speed prediction deviation; a wind speed prediction deviation set of the current flight period is constructed by combining the wind speed prediction deviations at each time of the flight stage, and set analysis is performed;

[0019] The maximum deviation and the minimum deviation in the wind speed prediction deviation set are collected, the deviation ratio is calculated by ratio, and the growth span of the deviation ratio before and after the change of the windward parameter in the flight environment is obtained.

[0020] As a preferred embodiment of the present application, the subset mean value in the wind speed prediction deviation set is collected, and the floating trend of the subset mean value in the deviation continuous generation stage is obtained.

[0021] If the increase span of the deviation ratio before and after the change of the windward parameter in the flight environment exceeds the set increase span threshold, or if the fluctuation trend of the subset mean during the period of continuous deviation is an increasing trend, then a wind prediction deviation signal is generated and sent to the UAV control tower; if the increase span of the deviation ratio before and after the change of the windward parameter in the flight environment does not exceed the set increase span threshold, and the fluctuation trend of the subset mean during the period of continuous deviation is not an increasing trend, then a wind prediction accuracy signal is generated and sent to the UAV control tower.

[0022] In a preferred embodiment of the present invention, the trajectory movement deviation process is as follows:

[0023] During the UAV's flight phase, the impact information of trajectory movement deviation is divided into overall control deviation information and local control deviation information, and then analyzed:

[0024] If the peak value of the overall control deviation information exceeds the set overall control deviation threshold, or the generation frequency of the local control deviation information exceeds the set generation frequency threshold, a deviation repair signal is generated and sent to the UAV control tower; if the peak value of the overall control deviation information does not exceed the set overall control deviation threshold, and the generation frequency of the local control deviation information does not exceed the set generation frequency threshold, a deviation monitoring signal is generated and sent to the UAV control tower.

[0025] In a preferred embodiment of the present invention, the overall control deviation information and the local control deviation information are obtained as follows:

[0026] The system collects flight path planning and decision-making information during the UAV's flight phase. It also calculates the decision buffer time difference based on the time the UAV sends flight path information to the UAV control tower and the time the UAV receives decision instructions from the control tower. Combining this with the wind speed prediction formula, the system uses the current planning and decision-making time as the real-time time and the decision buffer time difference as the interval between prediction times to obtain the wind speed at the prediction time and calculates the wind speed fluctuation range. It then calculates the movement deviation of the UAV's trajectory position based on the current wind speed fluctuation range and obtains the overall control deviation value based on the difference between the movement deviation and the tower's built-in route decision correction deviation, marking this as the overall control deviation information.

[0027] The system analyzes the electrical charge of the UAV during its flight phase. It obtains the discharge amount on the surface of the UAV at various times based on the sensors on the surface of the UAV. When the discharge amount exceeds the set electrical charge threshold, it is marked as an abnormal discharge amount. The abnormal discharge amount is used to divide the abnormal time into abnormal time and normal time. The voltage supply deviation of the internal motor of the UAV is obtained at the corresponding abnormal time and normal time. The missing power is obtained based on the real-time voltage supply deviation. The flight control deviation of the UAV is inferred based on the missing power and the flight control deviation is marked as local control deviation information.

[0028] As a preferred embodiment of the present application, the remote communication control process is as follows:

[0029] The collected data is fused and packed, and the area coordinates are noted as data stamps; the data transmission is performed, and the current signal strength floating range and the corresponding data transmission speed floating range are recorded;

[0030] When the lower limit value of the signal strength floating range continues to decrease, if the data transmission speed floating range has no obvious change, the data stamps of the to-be-transmitted area are formed into a to-be-transmitted list, which is preferentially transmitted to the unmanned aerial vehicle control tower; after the unmanned aerial vehicle control tower receives the to-be-transmitted list, the data stamps in the list are reduced one by one according to the real-time received data; and when the data transmission floating range changes obviously, the remaining data stamps in the current list are used to determine the estimated position, and remote communication control is performed.

[0031] If the data transmission speed floating range changes directly, the current timestamp is recorded, and the data stamps of the adjacent area are preset according to the flight trajectory of the unmanned aerial vehicle; the adjacent area corresponding to the data stamp is set as the estimated position, and remote communication control is performed.

[0032] As a preferred embodiment of the present application, the remote communication control operation bit is:

[0033] After the estimated position is determined, the unmanned aerial vehicle control tower transmits a single-channel exploration signal to the estimated position; if the single-channel exploration signal is not established with the unmanned aerial vehicle, the other estimated positions at the current time are detected one by one; and the unmanned aerial vehicle receives the feedback signal of the exploration signal and feeds back the signal to the unmanned aerial vehicle control tower, so that the single channel is established.

[0034] The unmanned aerial vehicle control tower sends a positioning signal to the unmanned aerial vehicle to determine whether there is a position deviation; if there is, the signal delivery point of the single channel is offset until it overlaps with the position of the unmanned aerial vehicle; and if there is not, the single channel establishes data transmission.

[0035] As a preferred embodiment of the present application, after the data transmission starts, the signal transmission channels of the unmanned aerial vehicle and the unmanned aerial vehicle control tower are fixed; if signal interference occurs in the current single channel, the channel is changed, and the change strategy of the unmanned aerial vehicle is consistent with that of the unmanned aerial vehicle tower; if signal interference occurs in the single channel transmission, so that the data transmission speed cannot meet the current transmission task, the unmanned aerial vehicle emits a network shielding signal; after the unmanned aerial vehicle tower completely loses the signal, the set channel of the unmanned aerial vehicle tower is cleared, and all channels are in a standby receiving state; the unmanned aerial vehicle identifies the signal according to the signal identification sensor, changes the flight trajectory, and temporarily flies in the signal area; during the temporary flight, the speed is reduced, and the sensitivity of the collision sensor is adjusted to the optimal state.

[0036] Compared with the prior art, the present application has the following advantages:

[0037] 1. In this invention, the propeller generates a large centrifugal force when rotating at high speed. The presence of tiny cracks can lead to stress concentration. As the flight time increases, the cracks may expand rapidly and eventually cause the propeller to break. By detecting cracks in time, this dangerous situation can be avoided. At the same time, detecting cracks and replacing the propeller in time can ensure that the UAV maintains a stable attitude during flight, improve the accuracy of the flight control system, and enable the UAV to fly smoothly along the predetermined route.

[0038] 2. In this invention, the complexity of the UAV flight environment directly determines the flight risk coefficient. Environmental assessment needs to achieve closed-loop control of dynamic data acquisition, multi-dimensional analysis, and risk quantification to improve the efficiency of environmental impact assessment, facilitate timely adjustment of flight routes, reduce the impact of external interference during UAV flight, and avoid equipment damage.

[0039] 3. In this invention, the real-time flight trajectory deviation of the UAV is identified and detected. The risk assessment of trajectory movement deviation is carried out through hardware monitoring of the UAV during flight, which improves the control accuracy of the UAV flight, ensures accurate control during flight, improves the operation control of the UAV, and avoids the failure to correct trajectory deviation in time due to signal transmission delay during remote communication control, which reduces the completion quality of UAV flight mission and also reduces the efficiency of UAV flight control.

[0040] 4. In this invention, when the UAV is performing multi-scenario operations, if there is interference in the remote data transmission environment, the data transmission signal strength will decrease and the distance to the relay point will be far. At this time, remote communication control will be performed to ensure that the transmission channel is established in a timely manner under weak signal conditions, so as to improve the timeliness and effectiveness of remote communication. Attached Figure Description

[0041] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0042] Figure 1 This is a flowchart of the method of the present invention. Detailed Implementation

[0043] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. As will be apparent to those of ordinary skill in the art, embodiments described herein can be combinable with other embodiments.

[0045] Reference is made to Figure 1 The remote communication-based unmanned aerial vehicle operation control method is shown in the following process:

[0046] Crack identification, propeller crack identification is performed during the flight stage of the unmanned aerial vehicle. The propeller will generate a large centrifugal force when rotating at high speed. The existence of a small crack will cause stress concentration. As the flight time increases, the crack may rapidly expand, eventually causing the propeller to break. By detecting and discovering the crack in time, this dangerous situation can be avoided. At the same time, detecting the crack and replacing the propeller in time can ensure that the unmanned aerial vehicle maintains a stable attitude during flight, improves the accuracy of the flight control system, and enables the unmanned aerial vehicle to fly smoothly along the predetermined route.

[0047] Flight impact detection, after determining that the unmanned aerial vehicle itself is defect-free, the flight environment around the unmanned aerial vehicle is detected. The complexity of the flight environment directly determines the flight risk coefficient. Environmental assessment needs to achieve a closed-loop control of dynamic data acquisition-multi-dimensional analysis-risk quantification to improve the efficiency of environmental impact assessment, facilitate timely flight route adjustment, reduce the impact of external interference during unmanned aerial vehicle flight, and avoid equipment damage.

[0048] Trajectory movement deviation, after excluding external interference, the real-time flight trajectory deviation of the unmanned aerial vehicle is identified and detected. Through the trajectory movement deviation risk assessment of the unmanned aerial vehicle hardware monitoring during flight, the control accuracy of the unmanned aerial vehicle flight is improved, ensuring accurate control during flight, improving the unmanned aerial vehicle operation control, avoiding the delay of signal transmission causing trajectory deviation not being corrected in time during remote communication control, and reducing the completion quality of the unmanned aerial vehicle flight task and the efficiency of the unmanned aerial vehicle flight control.

[0049] Remote communication control, when the transmission environment of remote data transmission exists interference, the signal strength of data transmission decreases, and the distance from the transfer point is far. At this time, remote communication control is performed to ensure timely transmission channel establishment in the case of weak signal to improve the timeliness and effectiveness of remote communication.

[0050] The crack identification process is as follows:

[0051] The unmanned aerial vehicle flies, the wide-angle camera collects the image of the propeller of the fuselage, and transmits the image to the unmanned aerial vehicle control tower, the real-time image is compared with the propeller self-checking picture before the unmanned aerial vehicle flies, the propeller profile is determined according to the display parameters of the propeller material in the picture, wherein the display parameters are represented by the gray value, display resolution and the like of the corresponding propeller material in the collected picture;

[0052] Air flow monitoring is performed on the current propeller operation stage, and the air flow trajectory when the unmanned aerial vehicle breaks the wind is recorded according to the sensor arranged on the unmanned aerial vehicle body, and the maximum wind resistance at the wind breaking moment is obtained according to the sensor arranged on the unmanned aerial vehicle wind breaking surface;

[0053] The propeller profile in the real-time image is identified according to the image comparison, and the position of the propeller in the picture is determined, the display parameters of each frame of picture corresponding to the propeller position in the real-time image are counted, and the floating change of the display parameters is recorded;

[0054] If the floating span of the display parameters corresponding to the adjacent pictures exceeds the parameter floating span threshold, and the floating span of the display parameters corresponding to the continuous pictures does not recover to the set safe floating range, it indicates that the propeller position changes in shape, the real-time wind breaking air flow trajectory and the maximum wind resistance at the wind breaking moment are monitored after the current picture is generated, when the real-time wind breaking air flow trajectory and the initial wind breaking air flow trajectory of the unmanned aerial vehicle exist air flow direction difference, or the maximum wind resistance at the wind breaking moment at the current arbitrary moment all exceeds the maximum wind resistance at the wind breaking moment under the same speed of the initial wind breaking air flow, it is determined that the unmanned aerial vehicle propeller crack appears and has an impact, that is, the unmanned aerial vehicle control tower controls the unmanned aerial vehicle to change the route and land at the nearest unmanned aerial vehicle transfer point for equipment maintenance;

[0055] When the real-time wind breaking air flow trajectory and the initial wind breaking air flow trajectory of the unmanned aerial vehicle do not exist air flow direction difference, and the maximum wind resistance at the wind breaking moment at the current arbitrary moment all does not exceed the maximum wind resistance at the wind breaking moment under the same speed of the initial wind breaking air flow, it is determined that the unmanned aerial vehicle propeller is attached with a substance, that is, the unmanned aerial vehicle control tower controls the unmanned aerial vehicle to stop at the nearest transfer point on the current flight route for repair;

[0056] If the floating span of the display parameters corresponding to the adjacent pictures does not exceed the parameter floating span threshold, or the floating span of the display parameters corresponding to the continuous pictures recovers to the set safe floating range, it indicates that the propeller position does not change in shape, and the propeller is continuously monitored by image recognition;

[0057] The flight influence detection process is as follows:

[0058] Flight influence detection is performed according to the real-time flight environment in the flight stage, specifically, the wind speed of the flight environment is collected and processed; it needs to be explained that there are many influencing factors for the unmanned aerial vehicle flight, and the wind speed is taken as an influencing factor for analysis and control in the present application;

[0059] According to the real-time risk, a short-term prediction formula is constructed:

[0060] ;

[0061] Wherein, V(t+10) represents the wind speed prediction value after ten minutes corresponding to the current time, and the prediction time can be adjusted according to the prediction requirements of the real-time flight environment;

[0062] AR represents the autoregressive coefficient, reflecting the influence of the current wind speed on the future, and the higher the value, the stronger the continuity of the current wind speed. For example, when the wind speed is stable, the coefficient is close to 0.9.

[0063] MA represents the moving average coefficient, reflecting the correction effect of historical errors on the future. For example, if the total error of previous prediction is 0.2 m / s, the coefficient will integrate the error rule into the new prediction.

[0064] v(t) represents the measured wind speed at the current time t;

[0065] Residual represents the error between the current prediction and the actual value. For example, the difference between the actual v(t) and the wind speed calculated by the historical model at time t is used to optimize the next prediction.

[0066] C represents the constant term, which is the "basic offset" calculated according to the long-term historical data. For example, if the local average wind speed is 0.5 m / s higher than the model default value, c can be set to 0.5 to offset the system bias.

[0067] According to the set short-term prediction formula, the prediction value is obtained, and the difference between the actual wind speed value at the time is compared to obtain the wind speed prediction deviation. According to the wind speed prediction deviation at each time of the flight stage, a wind speed prediction deviation set of the current flight period is constructed, and set analysis is performed.

[0068] The maximum deviation and minimum deviation in the wind speed prediction deviation set are collected, and the deviation ratio is calculated by ratio. According to the deviation ratio, the growth span of the deviation ratio before and after the change of the windward parameter in the flight environment is obtained, wherein the windward parameter represents the wind direction change frequency in the flight environment and the shelter of the surrounding buildings on the wind force.

[0069] The subset mean value in the wind speed prediction deviation set is collected, and the floating trend of the subset mean value in the deviation continuous generation stage is obtained.

[0070] If the growth span of the bias ratio before and after the change of the windward parameter under the flight environment exceeds the set growth span threshold, or the floating trend of the subset mean in the bias continuous generation stage is a growth trend, it indicates that the flight influence detection is abnormal, a wind power prediction bias signal is generated and sent to the unmanned aerial vehicle control tower, after receiving, the unmanned aerial vehicle control tower reduces the wind power prediction time setting of the environment where the unmanned aerial vehicle is located, and controls the flight task execution speed when the wind speed of the current flight environment fluctuates, prolongs the task execution time, and improves the fault tolerance rate of the flight stage;

[0071] If the growth span of the bias ratio before and after the change of the windward parameter under the flight environment does not exceed the set growth span threshold, and the floating trend of the subset mean in the bias continuous generation stage is not a growth trend, it indicates that the flight influence detection is normal, a wind power prediction accuracy signal is generated and sent to the unmanned aerial vehicle control tower, after receiving, the unmanned aerial vehicle control tower controls the flight speed of the unmanned aerial vehicle according to the actual wind speed prediction value, and adjusts the propeller auxiliary angle according to the wind direction;

[0072] The trajectory movement deviation process is as follows:

[0073] The influence information of the trajectory movement deviation in the unmanned aerial vehicle flight stage is divided into overall control deviation information and local control deviation information;

[0074] The flight route planning decision moment in the unmanned aerial vehicle flight stage is collected, and the decision buffer time difference is obtained according to the moment when the unmanned aerial vehicle sends the flight route to the unmanned aerial vehicle control tower and the moment when the unmanned aerial vehicle receives the decision instruction from the unmanned aerial vehicle control tower; The wind speed at the prediction time is obtained by taking the current planning decision time as the real time and taking the decision buffer time difference as the interval time length of the prediction time according to the wind speed prediction formula, and the wind speed floating span is calculated; The movement deviation of the trajectory position of the unmanned aerial vehicle under the current wind speed floating span is calculated, and the overall control deviation value is obtained according to the difference between the movement deviation and the deviation of the route decision repair of the tower, and is marked as overall control deviation information; Wherein, the movement deviation of the unmanned aerial vehicle can be calculated according to the deviation caused by the wind fluctuation to the unmanned aerial vehicle in the historical flight process, and the flight speed of the unmanned aerial vehicle in the two scenes is estimated;

[0075] The body electric quantity in the unmanned aerial vehicle flight stage is analyzed, the body surface discharge quantity at each moment is obtained according to the body surface sensor, and when the discharge quantity exceeds the set electric quantity threshold, it is marked as abnormal discharge quantity; The abnormal time and the normal time corresponding to the abnormal discharge quantity are divided, the internal motor voltage supply deviation of the body corresponding to the abnormal time and the normal time is obtained, the lack of dynamic force is obtained according to the real-time voltage supply deviation, and the flight control deviation of the unmanned aerial vehicle is inferred according to the lack of dynamic force, wherein the dynamic force can be obtained through the motor output, and the influence of reducing the dynamic force can be quantified as the control deviation according to the historical operation process. The flight control deviation is marked as local control deviation information;

[0076] analyzing the overall control deviation information and the local control deviation information:

[0077] If the overall control deviation information corresponding to the deviation peak value exceeds the set overall control deviation threshold, or the local control deviation information corresponding to the generation frequency exceeds the set generation frequency threshold, it indicates that the unmanned aerial vehicle trajectory movement deviation shows a trend of influence, a deviation repair signal is generated and sent to the unmanned aerial vehicle management and control tower, after receiving, the unmanned aerial vehicle management and control tower controls the speed of the unmanned aerial vehicle, sets the repair time according to the real-time control speed, infers the flight trajectory and the flight endpoint, makes deviation control decisions according to the real-time flight trajectory deviation and the flight endpoint deviation, and maintains the internal sensors of the machine body to ensure the control efficiency of the machine body;

[0078] If the overall control deviation information corresponding to the deviation peak value does not exceed the set overall control deviation threshold, and the local control deviation information corresponding to the generation frequency does not exceed the set generation frequency threshold, it indicates that the unmanned aerial vehicle trajectory movement deviation shows a stable trend, a deviation monitoring signal is generated and sent to the unmanned aerial vehicle management and control tower; the unmanned aerial vehicle management and control tower monitors the deviation of the current task performed by the unmanned aerial vehicle, and performs hardware maintenance after the end;

[0079] The remote communication control process is as follows:

[0080] After the unmanned aerial vehicle completes data collection in the current area, the collected data is fused, packaged and annotated with area coordinates as data stamps; the unmanned aerial vehicle transmits the packaged data successively, and records the environmental signal strength fluctuation in the current work area, that is, records the current signal strength fluctuation range and the corresponding data transmission speed fluctuation range;

[0081] When the lower limit value of the signal strength fluctuation range continues to decrease, if there is no obvious change in the data transmission speed fluctuation range, the data stamps of the to-be-transmitted area will be formed into a to-be-transmitted list and transmitted to the unmanned aerial vehicle management and control tower in priority, the unmanned aerial vehicle management and control tower reduces the data stamps in the list one by one according to the real-time received data stamps; and when there is an obvious change in the data transmission fluctuation range, the remaining data stamps in the current list are taken as the estimated position, and remote communication control is performed; where obvious change means that the speed fluctuation at the current time is one fifth of the corresponding speed fluctuation at the adjacent time;

[0082] If the data transmission speed fluctuation range directly shows an obvious change, the current timestamp is recorded and the data stamps of the adjacent area are preset according to the flight trajectory of the unmanned aerial vehicle, and the adjacent area corresponding to the data stamps is set as the estimated position for remote communication control;

[0083] Remote communication control means determining the real-time position with the tower when there is signal interference in the area where the unmanned aerial vehicle is located, establishing a point-to-point signal transmission channel to overcome the influence of external signal interference;

[0084] Specifically: after determining the estimated position, the unmanned aerial vehicle management and control tower transmits a single-channel exploration signal to the estimated position, if not established with the unmanned aerial vehicle, then the other estimated positions at the current time are detected one by one, and the unmanned aerial vehicle receives the exploration signal feedback signal to the unmanned aerial vehicle management and control tower, the single channel is established, then the unmanned aerial vehicle management and control tower sends a positioning signal to the unmanned aerial vehicle, according to the transmission speed, transmission delay deviation and the time of the unmanned aerial vehicle receiving the signal, the position of the unmanned aerial vehicle and the estimated position are monitored, and whether there is a position deviation is inferred, if there is, the single-channel signal delivery point position offset is performed until it overlaps with the position of the unmanned aerial vehicle, if not, the single-channel data transmission is established, after the data transmission starts, the signal transmission channel of the unmanned aerial vehicle and the unmanned aerial vehicle management and control tower is fixed, and when the current single channel appears signal interference, the channel is replaced, and the replacement strategy of the unmanned aerial vehicle is consistent with the replacement strategy of the unmanned aerial vehicle tower, if the single-channel transmission output signal interference so that the data transmission speed cannot meet the current transmission task, the unmanned aerial vehicle emits a network shielding signal, causing the signals around the unmanned aerial vehicle to be temporarily lost, after the unmanned aerial vehicle tower identifies that the signal is completely lost, the set channel of the unmanned aerial vehicle tower is unblocked and all channels are in a receiving state, reducing channel occupation, and the unmanned aerial vehicle changes the flight trajectory to find the signal area for temporary flight according to the signal recognition sensor provided.

[0085] In use, the crack identification identifies the propeller crack in the flight stage of the unmanned aerial vehicle, the flight influence detection detects the surrounding environment of the unmanned aerial vehicle after determining that the unmanned aerial vehicle itself is defect-free, the trajectory movement deviation identifies and detects the flight trajectory deviation of the unmanned aerial vehicle after excluding external influence interference, and the remote communication control controls the unmanned aerial vehicle in multiple scene operations.

[0086] The threshold or the preset value, the preset range and the like are set for result comparison and analysis, so as to determine whether it is good or bad, and the size of the threshold is determined according to the large model analysis of sample data and artificial experience, and is recorded and stored, and can be appropriately adjusted through seasonal or reasonable influence conditions.

[0087] The weight proportion coefficient and the influence factor are set according to the influence of each parameter on the result, and the specific value is finally reflected on the influence of the result, and is recorded and stored through the large model analysis of sample data and artificial experience, and can be appropriately adjusted through seasonal or reasonable influence conditions.

[0088] The preferred embodiments of the application disclosed above are only to facilitate the elucidation of the application. The preferred embodiments do not describe all the details of the application and limit the application to the specific embodiments. Obviously, many modifications and variations can be made in light of the teachings above. The description is chosen and described in order to provide the best illustration of the application and its practical application to those skilled in the art and to enable those skilled in the art to best utilize the application. The application is limited only by the claims and their full scope and equivalents.

Claims

1. A method for controlling the operation of a UAV based on remote communication, characterized in that, The unmanned aerial vehicle operation control method process is as follows: Crack identification, propeller crack identification during the flight stage of the unmanned aerial vehicle; Flight influence detection, after determining that the unmanned aerial vehicle itself is defect-free, detecting the surrounding environment of the unmanned aerial vehicle; Track movement deviation, after excluding external influence interference, identifying and detecting the flight track deviation of the unmanned aerial vehicle; Remote communication control, when the unmanned aerial vehicle performs multi-scene operation, remote communication control is performed. 2.The remote communication based UAV operation control method of claim 1, wherein, The crack identification process is as follows: Collecting the propeller image of the machine body, transmitting it to the unmanned aerial vehicle control tower, comparing the real-time image, determining the propeller contour, monitoring the air flow, and recording the air flow trajectory when the unmanned aerial vehicle breaks the wind, and obtaining the maximum wind resistance at the wind breaking moment according to the sensor; According to the image comparison, identify the propeller contour in the real-time image and determine the position of the propeller in the picture, count the display parameters, and record the floating changes of the display parameters; If the floating span of the adjacent pictures corresponding to the display parameters exceeds the parameter floating span threshold, and the floating span of the corresponding display parameters in the continuous pictures has not recovered to the set safe floating range, it indicates that the propeller position has changed in shape, and further monitoring is performed; when the real-time wind breaking air flow trajectory and the initial wind breaking air flow trajectory of the unmanned aerial vehicle have no air flow direction difference, and the maximum wind resistance at the wind breaking moment at the current arbitrary time does not exceed the maximum wind resistance at the initial wind breaking moment under the same speed, it is determined that the unmanned aerial vehicle propeller is attached with a substance, that is, the unmanned aerial vehicle control tower controls the unmanned aerial vehicle to stop at the nearest transfer point on the current flight route for repair. 3.The remote communication based UAV operation control method of claim 2, wherein, Further monitoring process: After the current picture is generated, the real-time wind breaking air flow trajectory and the maximum wind resistance at the wind breaking moment are monitored, and when the real-time wind breaking air flow trajectory and the initial wind breaking air flow trajectory of the unmanned aerial vehicle have air flow direction difference, or the maximum wind resistance at the wind breaking moment at the current arbitrary time exceeds the maximum wind resistance at the initial wind breaking moment under the same speed, it is determined that the unmanned aerial vehicle propeller crack appears and has an impact, that is, the unmanned aerial vehicle control tower controls the unmanned aerial vehicle to change the route and land at the nearest unmanned aerial vehicle transfer point for equipment maintenance.

4. The remote communication based UAV operation control method of claim 3, wherein, The flight influence detection process is as follows: Collect and process the wind speed of the flight environment; construct a short-term prediction formula according to the real-time risk; obtain the prediction value according to the set short-term prediction formula, and compare the difference with the actual wind speed value to obtain the wind speed prediction deviation; combine the wind speed prediction deviation at each time of the flight stage to construct the wind speed prediction deviation set of the current flight period, and perform set analysis; Collect the maximum deviation and the minimum deviation in the wind speed prediction deviation set, calculate the deviation ratio through the ratio, and obtain the growth span of the deviation ratio before and after the wind parameter changes in the flight environment.

5. The remote communication based UAV operation control method of claim 4, wherein, Collect the subset mean value in the wind speed prediction deviation set, and obtain the floating trend of the subset mean value in the deviation continuous generation stage; If the growth span of the bias ratio before and after the change of the windward parameter in the flight environment exceeds the set growth span threshold, or the floating trend of the subset mean in the bias continuous generation stage is a growth trend, a wind force prediction bias signal is generated and sent to the unmanned aerial vehicle control tower; if the growth span of the bias ratio before and after the change of the windward parameter in the flight environment does not exceed the set growth span threshold, and the floating trend of the subset mean in the bias continuous generation stage is not a growth trend, a wind force prediction accuracy signal is generated and sent to the unmanned aerial vehicle control tower. 6.The remote communication based UAV operation control method of claim 5, wherein, The trajectory movement deviation process is as follows: In the unmanned aerial vehicle flight stage, the influence information of the trajectory movement deviation is divided into overall control deviation information and local control deviation information, and is analyzed: If the overall control deviation information corresponding to the bias peak value exceeds the set overall control deviation threshold, or the local control deviation information corresponding to the generation frequency exceeds the set generation frequency threshold, a bias repair signal is generated and sent to the unmanned aerial vehicle control tower; if the overall control deviation information corresponding to the bias peak value does not exceed the set overall control deviation threshold, and the local control deviation information corresponding to the generation frequency does not exceed the set generation frequency threshold, a bias monitoring signal is generated and sent to the unmanned aerial vehicle control tower.

7. The remote communication based UAV operation control method of claim 6, wherein, The acquisition method of the overall control deviation information and the local control deviation information is as follows: The decision buffer time difference is obtained according to the time when the unmanned aerial vehicle sends the flight route to the unmanned aerial vehicle control tower, and the time when the unmanned aerial vehicle receives the decision instruction from the unmanned aerial vehicle control tower; the wind speed at the prediction time is obtained by taking the current planning decision time as the real-time time and the decision buffer time difference as the interval time length of the prediction time based on the wind speed prediction formula, and the wind speed floating span is calculated; the movement deviation of the trajectory position of the unmanned aerial vehicle is calculated under the current wind speed floating span, and the overall control deviation value is obtained according to the difference between the movement deviation and the deviation of the route decision repair provided by the tower, and is marked as overall control deviation information; The body electric quantity in the unmanned aerial vehicle flight stage is analyzed, the body surface discharge quantity at each time is obtained according to the body surface sensor, and when the discharge quantity exceeds the set electric quantity threshold, it is marked as abnormal discharge quantity; the abnormal time and the normal time are divided according to the abnormal discharge quantity, the internal motor voltage supply deviation corresponding to the abnormal time and the normal time is obtained, the lack of dynamic force is obtained according to the real-time voltage supply deviation, the flight control deviation of the unmanned aerial vehicle is inferred according to the lack of dynamic force, and the flight control deviation is marked as local control deviation information. 8.The remote communication based UAV operation control method of claim 7, wherein, The remote communication control process is as follows: The collected data is fused and packaged, and the area coordinates are marked as data stamps; data transmission is performed, and the current signal strength floating range and the corresponding data transmission speed floating range are recorded; When the lower limit of the signal strength floating range continues to decrease, if there is no obvious change in the data transmission speed floating range, the data stamps of the to-be-transmitted region are formed into a to-be-transmitted list, which is preferentially transmitted to the unmanned aerial vehicle control tower; the unmanned aerial vehicle control tower receives the to-be-transmitted list, and reduces the data stamps in the list one by one according to the corresponding data stamps received in real time; and when the data transmission floating range changes obviously, the remaining data stamps in the current list are used to determine the estimated position, and remote communication control is performed. If the data transmission speed floating range changes directly, the current time stamp is recorded, and the data stamps of the adjacent region are preset according to the flight trajectory of the unmanned aerial vehicle, the adjacent region corresponding to the data stamp is set as the estimated position, and remote communication control is performed. 9.The remote communication based UAV operation control method of claim 8, wherein, The remote communication control operation bit is: After determining the estimated position, the unmanned aerial vehicle control tower transmits a single-channel exploration signal to the estimated position, and if it is not established with the unmanned aerial vehicle, it will detect other estimated positions one by one at the current time, and the unmanned aerial vehicle receives the feedback signal of the exploration signal to the unmanned aerial vehicle control tower, and transmits a single channel; The unmanned aerial vehicle control tower sends a positioning signal to the unmanned aerial vehicle to infer whether there is a position deviation, if there is, the signal delivery point of the single channel is offset until it overlaps with the position of the unmanned aerial vehicle; if not, the single channel is established for data transmission. 10.The remote communication based UAV operation control method of claim 9, wherein, After the data transmission starts, the signal transmission channels of the unmanned aerial vehicle and the unmanned aerial vehicle control tower are fixed, and if the current single channel is interfered, the channel is changed, and the change strategy set in the unmanned aerial vehicle is consistent with the change strategy of the unmanned aerial vehicle tower; if the single channel output signal interference is so serious that the data transmission speed cannot meet the current transmission task, the unmanned aerial vehicle emits a network shielding signal, and after the unmanned aerial vehicle tower completely loses the signal, the setting channel of the unmanned aerial vehicle tower is smooth and all channels are in a ready-to-receive state, and the unmanned aerial vehicle changes the flight trajectory according to the signal recognition sensor to find the signal region for temporary flight, and the speed is reduced and the sensitivity of the collision sensor is adjusted to the optimal state.

Images