High-altitude environment detection method and system based on unmanned aerial vehicle

Abstract

The invention relates to a high-altitude environment detection method and system based on an unmanned aerial vehicle, and relates to the field of high-altitude detection, and the method comprises the steps: responding to a preset detection signal to collect detection information; calling an altitude value based on the detection information; generating a flight demand power value in response to the altitude value; matching an unmanned aerial vehicle model corresponding to the flight demand power value from a preset flight database; and controlling the unmanned aerial vehicle corresponding to the unmanned aerial vehicle model to rise and fly at the altitude value, and after the flight is completed, controlling the unmanned aerial vehicle to carry out detection so as to complete the detection. The method has the effect of improving the accuracy of the detection data.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of high-altitude detection, and in particular to a high-altitude environment detection method and system based on a UAV. BACKGROUND

[0002] High-altitude environment detection refers to the monitoring and analysis of various environmental factors in a space at a certain height from the ground, including but not limited to atmospheric composition, weather conditions, ecological conditions, etc.

[0003] Currently, traditional high-altitude environment detection methods mainly rely on ground monitoring stations, satellite remote sensing, and manual detection equipment carried by personnel. However, these detection methods have different degrees of limitations. With the application of UAV technology in the field of environmental detection, the problems of traditional high-altitude environment detection methods have been improved to some extent.

[0004] However, the existing high-altitude environment detection scheme based on a UAV does not fully consider the impact of different altitudes on the flight performance of the UAV. In the detection task, the UAV model is selected randomly, which may cause the UAV to be unable to fly stably at certain altitudes due to insufficient power, thereby reducing the accuracy of the detection data, and needs to be improved. SUMMARY

[0005] In order to improve the accuracy of the detection data, the present application provides a high-altitude environment detection method and system based on a UAV.

[0006] In a first aspect, the present application provides a high-altitude environment detection method based on a UAV, which adopts the following technical solution: A high-altitude environment detection method based on a UAV, comprising: S1: responding to a preset detection signal to collect detection information; S2: based on the detection information, retrieving an altitude value; S3: responding to the altitude value to generate a flight demand power value; S4: matching from a preset flight database to a UAV model corresponding to the flight demand power value; S5: controlling the UAV corresponding to the UAV model to fly upward at the altitude value, and after completing the flight, controlling the UAV to detect, thereby completing the detection.

[0007] By adopting the technical scheme, the system first collects detection information, extracts a target altitude value from the detection information, and obtains a power value required for the unmanned aerial vehicle to stably fly at the altitude based on the altitude value. Through accurate matching with power parameters of various types of unmanned aerial vehicles in a flight database, it is ensured that the selected unmanned aerial vehicle has sufficient power reserve at the target altitude, avoiding unstable flight posture or data collection deviation caused by insufficient power. In the process of controlling the unmanned aerial vehicle to ascend by altitude and complete detection, the flight path is fine-tuned in combination with real-time environmental parameters such as air pressure and wind speed, further ensuring the stability of the detection operation, and thus improving the accuracy of the detection data.

[0008] Optionally, the method further comprises an auxiliary positioning method: S60: when the altitude value is higher than a preset reference altitude value, defining an unmanned aerial vehicle corresponding to the current unmanned aerial vehicle model as a detection unmanned aerial vehicle; S61: controlling the detection unmanned aerial vehicle to output current position information, and shutting down a preset positioning function of the detection unmanned aerial vehicle after the output is completed; S62: generating an auxiliary arrival position based on the altitude value, the current position information, and a preset interval distance value; S63: generating broadcast position information based on the interval distance value and the auxiliary arrival position; S64: controlling a preset positioning unmanned aerial vehicle to ascend to the auxiliary arrival position, and performing position reporting based on the broadcast position information.

[0009] Optionally, the method further comprises an electric quantity supplement method of the detection unmanned aerial vehicle: S70: collecting a residual electric quantity value of the detection unmanned aerial vehicle; S71: when the residual electric quantity value is lower than a preset reference electric quantity value, collecting a current electric quantity value of the positioning unmanned aerial vehicle; S710: if the current electric quantity value is lower than a preset charging electric quantity value, controlling the positioning unmanned aerial vehicle to return to a preset battery replacement area to replace the battery, and after the positioning unmanned aerial vehicle completes the battery replacement, controlling the positioning unmanned aerial vehicle to re-go to the auxiliary arrival position to complete resetting; S711: if the current electric quantity value is not lower than the charging electric quantity value or after resetting is completed, controlling the positioning unmanned aerial vehicle to charge the detection unmanned aerial vehicle in a preset charging method.

[0010] Optionally, the charging method comprises: S7110: controlling the detection unmanned aerial vehicle to open a preset charging disc placement area to lower a preset charging disc; S7111: after the lowering of the charging disc is completed, controlling the positioning unmanned aerial vehicle to collect charging image information and a current wind power parameter; S7112: Identify preset charging pad features from the charging image information to mark the charging pad, so as to obtain the charging pad's movement trajectory; S7113: Generate the expected location of the charging pad based on the current wind parameters, the trajectory of the charging pad, and the preset weight of the charging pad; S7114: Obtain the charging angle value based on the assisted arrival position and the expected position of the charging pad; S7115: Obtain the charging distance value based on the interval distance value and the expected position of the charging pad; S7116: Control the charging device preset on the positioning drone to adjust the angle according to the charging angle value, and after the angle adjustment is completed, extend the length according to the charging distance value to reach the expected position of the charging disk, and then magnetically connect with the charging disk.

[0011] Optionally, an interval distance verification method may also be included: S80: Collect the detection image information of the positioning drone; S81: Based on the detected image information, preset UAV features, and reference objects, the current distance value is obtained; S82: When the current distance value is inconsistent with the interval distance value, collect the positioning location information of the positioning drone; S83: When the positioning information is inconsistent with the assisted arrival position, calculate the distance between the positioning information and the assisted arrival position to obtain the displacement distance value; S830: Obtain a reference displacement distance value based on the current distance value and the interval distance value; S831: When the displacement distance value is inconsistent with the reference displacement distance value, output a prompt indicating the position offset of the detected UAV; S84: When the positioning information is consistent with the assisted arrival position, output a prompt indicating that the drone's position has deviated.

[0012] Optionally, the offset processing method includes: S8310: When the positioning information is inconsistent with the assisted arrival position, in response to the detection of the UAV position offset prompt, the difference between the displacement distance value and the interval distance value is calculated as the reference interval distance value; S8311: Obtain the offset distance value based on the current distance value and the reference interval distance value; S840: When the positioning information is consistent with the assisted arrival position, in response to the detection of the UAV position offset prompt, the offset distance value is obtained based on the current distance value and the interval distance value; S85: Based on the offset distance value, control the detection drone to perform offset reset using a preset offset reset method.

[0013] Optionally, the offset reset method includes: S850: Collects current wind force parameters; S851: Based on the current wind force parameters, retrieve the current wind force value and current wind direction information; S852: Update the broadcast location information based on the current distance value and the location information; S853: Obtain downwind direction information based on the positional relationship between the updated broadcast location information and the current location information; S854: When the current wind direction information is inconsistent with the downwind direction information, the required power value is determined based on the current wind force value and the offset distance value; S855: Generate a required power value based on the required power value, and collect the drone power value of the detected drone; S8550: When the power value of the drone exceeds the required power value, control the detection drone to offset and reset to the required power value; S8551: When the power level of the drone does not exceed the required power level, control the positioning drone to assist the detection drone in offset reset using a preset auxiliary offset reset method.

[0014] Optionally, the auxiliary offset reset method includes: S85510: Retrieve the positioning model information of the positioning drone and the detection model information of the detection drone; S855100: Obtain the size of the positioning drone based on the positioning model information; S855101: Obtain the size of the detected drone based on the detected model information; S855102: When the size of the positioning drone is not smaller than the size of the detection drone, collect the air density; S855103: Generate a wake range based on the current wind force value, the size of the positioning drone, the air density, and the preset reset flight speed; S855104: Generate the reset arrival position of the positioning drone based on the detected drone size, the wake range, and the current distance value; S855105: Control the positioning drone to move to the reset arrival position, and control the detection drone and the positioning drone to move synchronously, thereby performing offset reset.

[0015] Optionally, the auxiliary offset reset method further includes: S85511: Retrieve the positioning model information of the positioning drone and the detection model information of the detection drone; S855110: The weight of the positioning drone is obtained based on the positioning model information, and the weight of the detection drone is obtained based on the detection model information; S855111: The maximum power value is obtained based on the current wind force value, the offset distance value, and the drone's battery level; S855112: Generate a traction power value based on the maximum power value, the required power value, the weight of the positioning drone, and the weight of the detection drone; S855113: Control the positioning drone to establish a traction connection with the detection drone, and after the connection is completed, control the positioning drone to move with a traction power value, while controlling the detection drone to move synchronously with a maximum power value.

[0016] Secondly, this application provides a high-altitude environment detection system based on unmanned aerial vehicles (UAVs), which adopts the following technical solution: A high-altitude environment detection system based on unmanned aerial vehicles (UAVs) includes: The data acquisition module is used to collect detection information; The memory is used to store the program that implements any of the above-mentioned UAV-based high-altitude environment detection methods; The processor is used to load and execute programs stored in memory.

[0017] In summary, this application includes at least one of the following beneficial technical effects: 1. The system first collects detection information, extracts the target altitude value, and then calculates the power required for stable flight of the UAV at that altitude. By precisely matching the power parameters of various UAV models in the flight database, the system ensures that the selected UAV has sufficient power reserves at the target altitude, avoiding unstable flight attitude or data acquisition deviations due to insufficient power. During the process of controlling the UAV to ascend the altitude and complete the detection, the system fine-tunes the flight path based on real-time environmental parameters such as air pressure and wind speed, further ensuring the stability of the detection operation and improving the accuracy of the detection data. 2. When the remaining battery power of the detected drone is lower than the baseline value, the detection drone is controlled to open the charging pad placement area and lower the charging pad. Then, by analyzing the charging image information, the characteristics of the charging pad are accurately identified and marked, thereby obtaining the movement trajectory of the charging pad. Combined with the current wind parameters and the weight of the charging pad, the expected position of the charging pad can be accurately generated. Based on the auxiliary arrival position and the expected position of the charging pad, the charging angle value is obtained. Then, combined with the interval distance value, the charging distance value is calculated. Finally, the charging device is controlled to first adjust the angle and then extend the length according to the charging distance value to achieve magnetic connection with the charging pad and complete the charging docking. This effectively improves the accuracy and stability of drone charging. 3. By first retrieving the model information of the positioning drone and the detection drone, their respective dimensions are obtained. When the size of the positioning drone is not smaller than that of the detection drone, the air density is collected. Combined with the current wind force, the size of the positioning drone, and the reset flight speed, the wake range is generated. Based on this, the reset arrival position of the positioning drone is determined according to the size of the detection drone, the wake range, and the current distance value. Finally, the two drones are controlled to move synchronously to perform offset reset, thereby ensuring that the positioning drone can provide the best flight guidance for the detection drone during the reset process. Attached Figure Description

[0018] Figure 1 This is a flowchart of a method for high-altitude environment detection based on unmanned aerial vehicles (UAVs) in an embodiment of the present invention. Figure 2 This is a flowchart of the auxiliary positioning method in an embodiment of the present invention; Figure 3 This is a flowchart of the method for detecting the battery replenishment of a drone in an embodiment of the present invention; Figure 4 This is a flowchart of the charging method in an embodiment of the present invention; Figure 5 This is a flowchart of the interval distance verification method in an embodiment of the present invention; Figure 6 This is a flowchart of an auxiliary offset reset method according to an embodiment of the present invention; Figure 7 This is a flowchart of another auxiliary offset reset method in an embodiment of the present invention. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0020] Reference Figure 1 This application discloses a method for high-altitude environment detection based on unmanned aerial vehicles (UAVs), comprising the following steps: Step 1: Respond to the preset detection signal to acquire detection information.

[0021] The detection signal refers to the signal emitted when controlling a detection drone to travel to a high altitude for detection. The detection drone is a drone used for high-altitude detection. The detection signal is emitted through a pre-set transceiver. The detection information includes relevant information such as the altitude the detection drone needs to reach and the location of the target detection area. The detection information is acquired from a pre-set detection terminal. The transceiver sends the detection signal to the detection terminal, and when the detection terminal acquires the detection signal, it emits the detection information. The detection terminal is a terminal used to acquire various detection signals, match the acquired detection signals with the corresponding detection information, and emit it. The correspondence between detection signals and detection information is pre-input by the operator and will not be elaborated here. The detection terminal is pre-set by those skilled in the art and will not be elaborated here.

[0022] Step 2: Retrieve altitude values ​​based on detection information.

[0023] The altitude value refers to the altitude at which the detection drone needs to travel to perform its detection. This altitude value can be obtained from the detection information.

[0024] Step 3: Respond to the altitude value to generate the flight demand power value.

[0025] Flight power requirements refer to the engine output required for a UAV to reach and maintain a stable altitude. A pre-set power database can be used to match the flight power requirements for different altitudes. This database stores different flight power requirements for different altitudes. The power database was created by those skilled in the art through sequential testing of different flight power requirements for different altitudes, and will not be elaborated upon here.

[0026] Step 4: Match the drone models that meet the flight requirements based on the preset flight database.

[0027] The drone model refers to the specific model of the drone used for testing. A flight database can be used to match the drone models corresponding to different flight power requirements. This database stores different drone models corresponding to different flight power requirements. The flight database was created by those skilled in the art through sequential testing of different drone models corresponding to different flight power requirements, and will not be elaborated upon here.

[0028] Step 5: Control the drone corresponding to the drone model to ascend to the specified altitude, and after completing the flight, control the drone to perform the test, thereby completing the test.

[0029] The control drone model corresponds to the detection drone, which ascends to an altitude value. Once the detection drone reaches the corresponding altitude, the control drone performs the detection, thereby completing the detection operation.

[0030] Reference Figure 2 The assisted positioning method includes the following steps: Step 60: When the altitude value is higher than the preset reference altitude value, define the drone corresponding to the current drone model as a detection drone.

[0031] The reference altitude value refers to the highest altitude that a drone can reach while simultaneously and accurately outputting its own positioning information and detection status. The reference altitude value is set in advance by those skilled in the art and will not be elaborated here.

[0032] When the altitude value is higher than the reference altitude value, it indicates that the drone is flying too high. When the drone outputs its own positioning information and detection status, there will be mutual interference between the two, which will lead to inaccuracies in the subsequent output of its own positioning information and detection status. Therefore, it is necessary to first define the drone corresponding to the current drone model as the detection drone for subsequent steps.

[0033] Step 61: Control the detection drone to output the current location information, and after the output is completed, turn off the preset positioning function of the detection drone.

[0034] Current location information refers to the current position of the detected drone. This information is obtained through a GPS positioning chip pre-installed on the drone. Positioning function refers to the function used for real-time positioning of the detected drone. The positioning function is pre-configured by those skilled in the art and will not be elaborated upon here.

[0035] Control the detection drone to output its current location information, and after outputting the information, turn off the drone's positioning function so that the drone can focus solely on detection.

[0036] Step 62: Generate an auxiliary arrival location based on the altitude value, current location information, and preset interval distance value.

[0037] The interval distance value refers to the distance that needs to be maintained between two drones. This interval distance value is preset by those skilled in the art and will not be elaborated upon here. The assisted arrival location refers to the location that the positioning drone needs to reach. A positioning drone is a drone specifically designed for positioning.

[0038] Since the altitudes of the positioning drone and the detection drone must be consistent, knowing the altitude value allows us to determine the elevation coordinates of the assisted arrival position. By understanding the current location information and the interval distance value, and using the point-to-point distance formula, the horizontal coordinates of the assisted arrival position can be calculated. Finally, combining the elevation and horizontal coordinates yields the assisted arrival position. The point-to-point distance formula is common knowledge in this field and will not be elaborated upon here.

[0039] Step 63: Generate broadcast location information based on the interval distance value and the auxiliary arrival location.

[0040] The broadcast location information refers to the location of the detected drone broadcast by the positioning drone. The interval distance value and the corresponding broadcast location information for the auxiliary arrival position can be calculated using the point-to-point distance formula.

[0041] Step 64: Control the preset positioning drone to ascend to the assisted arrival position and report the location based on the broadcast location information.

[0042] The system controls the positioning drone to ascend to the assisted arrival position and reports its location based on the broadcast location information, thereby enabling real-time awareness of the drone's location.

[0043] Reference Figure 3 The method for detecting and replenishing the battery of a drone includes the following steps: Step 70: Collect and detect the remaining battery level of the drone.

[0044] The remaining battery level refers to the amount of battery power currently remaining on the drone. This remaining battery level can be obtained by detecting the battery sensor on the drone.

[0045] Step 71: When the remaining battery power is lower than the preset baseline battery power, collect the current battery power value of the positioning drone.

[0046] The baseline battery level refers to the minimum amount of battery power the drone needs to maintain during high-altitude detection. This baseline battery level is preset by those skilled in the art and will not be elaborated upon here. The current battery level refers to the amount of battery power currently remaining on the drone. This current battery level can be obtained using the battery sensor on the drone.

[0047] When the remaining battery level is lower than the baseline battery level, it indicates that the drone's battery is too low. It is necessary to collect and locate the drone's current battery level for subsequent steps.

[0048] Step 710: If the current battery level is lower than the preset charging level, control the positioning drone to return to the preset battery replacement area to replace the battery. After the positioning drone has completed the battery replacement, control the positioning drone to return to the auxiliary arrival position to complete the reset.

[0049] The charging capacity value refers to the minimum remaining power required for the positioning drone to charge the detection drone. The battery replacement area refers to the area used for replacing the drone's battery. Both the charging capacity value and the battery replacement area are preset by those skilled in the art and will not be elaborated upon here.

[0050] If the current battery level is lower than the charging level, it means that the positioning drone is not powerful enough to charge the detection drone. The positioning drone must first be controlled to return to the battery replacement area for battery replacement. After the positioning drone has completed the battery replacement, it should be controlled to return to the auxiliary arrival position to complete the reset for subsequent steps.

[0051] Step 711: If the current battery level is not lower than the charging level or after the reset is completed, control the positioning drone to charge the detection drone using the preset charging method.

[0052] The charging method refers to the method by which the positioning drone charges the detection drone. The specific charging method will be explained in detail in subsequent steps 7110 to 7116, and will not be repeated here.

[0053] If the current battery level is not lower than the charging level, it means the positioning drone has enough power to charge the detection drone. Simply control the positioning drone to charge the detection drone. After the positioning drone resets, you can also control it to charge the detection drone.

[0054] Reference Figure 4 The charging method includes the following steps: Step 7110: Control the detection drone to open the preset charging pad placement area to lower the preset charging pad.

[0055] The charging pad placement area refers to the area on the testing drone used to house the charging pad. The charging pad is a device that, after connecting to an external power supply, provides power to the testing drone. The charging pad placement area is predetermined by those skilled in the art and will not be elaborated upon here.

[0056] The control system opens the charging pad placement area on the inspection drone to lower the charging pad, facilitating the connection between the drone and the pre-installed charging device. The charging device refers to the device used to charge the inspection drone. Step 7111: After the charging pad is lowered, control the positioning drone to collect charging image information and current wind parameters.

[0057] The charging image information refers to an image containing both the detected drone and the charging pad. The current wind parameters refer to the current wind speed and direction. The charging image information is obtained by taking pictures using a pre-set camera on the drone. The current wind parameters are measured by a pre-set wind speed and direction sensor on the drone.

[0058] After the charging pad is lowered, the positioning drone needs to be controlled to collect charging image information and current wind parameters for subsequent steps.

[0059] Step 7112: Identify the preset charging pad features from the charging image information to mark the charging pad and obtain the charging pad's movement trajectory.

[0060] The charging pad features refer to the external outline characteristics of the charging pad. These features are predetermined by those skilled in the art and will not be elaborated upon here. The charging pad trajectory refers to the path the charging pad takes as it floats in the air.

[0061] After detecting the drone's deployment of the charging pad, the charging pad is marked by recognizing its external outline features. Using image recognition and positioning technology, the charging pad's position at different times is tracked in real time. This positional information is recorded in chronological order to form the charging pad's trajectory. Image recognition and positioning technologies are common knowledge in this field and will not be elaborated upon here.

[0062] Step 7113: Generate the expected location of the charging pad based on the current wind parameters, the trajectory of the charging pad, and the preset weight of the charging pad.

[0063] The charging pad weight refers to the weight of the charging pad. This weight is predetermined by those skilled in the art and will not be elaborated upon here. The expected location of the charging pad refers to the location where the charging pad is expected to drift to.

[0064] A pre-set prediction database can be used to match the current wind parameters, the charging pad's trajectory, and its weight to determine the expected location of the charging pad. This database stores algorithms that generate these predicted locations. In this embodiment, the algorithm stored in the prediction database is a particle filter algorithm. Specific particle filter algorithms are common knowledge in the field and will not be elaborated upon here.

[0065] Step 7114: Obtain the charging angle value based on the assisted arrival position and the expected position of the charging pad.

[0066] The charging angle value refers to the angle adjustment required for the charging device of a positioning drone. It is calculated by determining the relative positions of the assisted arrival position and the expected charging position in space, thus obtaining the azimuth deviation and height difference between them. This allows us to determine the horizontal and vertical angles between the assisted arrival position and the expected charging position, ultimately yielding the charging angle value.

[0067] Step 7115: Obtain the charging distance value based on the interval distance value and the expected location of the charging pad.

[0068] The charging distance value refers to the distance the charging device should extend. It is calculated by taking into account the linear distance between the drone and the expected location of the charging pad, and then combining this with the interval distance value.

[0069] Step 7116: Control the charging device preset on the positioning drone to adjust the angle by the charging angle value, and after the angle adjustment is completed, extend the length by the charging distance value to reach the expected position of the charging disk, and then magnetically connect with the charging disk.

[0070] The charging device on the control and positioning drone adjusts its angle by the charging angle value, and after the angle adjustment is completed, it extends its length by the charging distance value to reach the expected position of the charging plate, and then magnetically connects with the charging plate. After the magnetic connection is completed, the detection drone is charged.

[0071] Reference Figure 5 The interval distance verification method includes the following steps: Step 80: Collect detection image information of the positioning drone.

[0072] The detection image information refers to the image used to detect the distance between the positioning drone and the detection drone. The detection image information is obtained by taking pictures with the camera on the positioning drone.

[0073] Step 81: Determine the current distance value based on the detected image information, preset drone features, and reference objects.

[0074] The drone features refer to the external outline features of the detected drone. The reference object refers to an object used to assist in comparing the actual size and position of various features in the image. The size and position of the drone features and the reference object are predetermined by those skilled in the art and will not be elaborated here. Furthermore, the detected image information includes both the reference object and the drone features. The current distance value refers to the current distance between the located drone and the detected drone.

[0075] By understanding the detection image information, we can know the distance between the positioning drone and the detection drone in the image. Then, by understanding the actual size and position of the reference object and its size and position in the image, we can know the image ratio of the detection image information. Finally, we can calculate the actual current distance value by using the image ratio and the distance between the reference objects in the image.

[0076] Step 82: When the current distance value and the interval distance value are inconsistent, collect the positioning information of the positioning drone.

[0077] Location information refers to the position of the drone itself. This location information is obtained through a pre-installed GPS positioning chip on the drone.

[0078] If the current distance value is inconsistent with the interval distance value, it indicates that the drone has shifted its position. It is necessary to collect the drone's location information first for subsequent steps.

[0079] Step 83: When the positioning information is inconsistent with the assisted arrival position, calculate the distance between the positioning information and the assisted arrival position to obtain the displacement distance value.

[0080] The displacement distance value refers to the distance the positioning drone deviates from its intended location. It can be obtained by calculating the distance between the current positioning information and the assisted arrival position. The formula for the distance between points is common knowledge in this field and will not be elaborated upon here.

[0081] When the location information is inconsistent with the assisted arrival location, it indicates that the positioning drone has deviated. The displacement distance value needs to be calculated first for subsequent steps.

[0082] Step 830: Obtain the reference displacement distance value based on the current distance value and the interval distance value.

[0083] The reference displacement distance value refers to the distance that the positioning drone should deviate from when the interval between the positioning drone and the detection drone is the current distance value. The reference displacement distance value can be obtained by calculating the difference between the current distance value and the interval distance value.

[0084] Step 831: When the displacement distance value is inconsistent with the reference displacement distance value, output a prompt indicating the position offset of the detected UAV.

[0085] When the displacement distance value is inconsistent with the reference displacement distance value, it indicates that the detection drone has also shifted, and a position shift prompt for the detection drone needs to be output for subsequent steps.

[0086] Step 84: When the positioning information matches the assisted arrival position, output a prompt indicating that the drone's position has deviated.

[0087] When the location information matches the assisted arrival location, it indicates that the detection drone has deviated, and a detection drone position deviation prompt needs to be output for subsequent steps.

[0088] The offset processing method includes the following steps: Step 8310: When the positioning information is inconsistent with the assisted arrival position, in response to the detection of UAV position offset prompt, calculate the difference between the displacement distance value and the interval distance value as the reference interval distance value.

[0089] The baseline interval distance refers to the distance between the positioning drone and the detection drone that should exist when the positioning drone experiences a positional shift. The baseline interval distance can be obtained by calculating the difference between the displacement distance and the interval distance.

[0090] When the reason for issuing a warning about the drone's position deviation is that the positioning information is inconsistent with the assisted arrival position, the reference interval distance value must be calculated first for subsequent steps.

[0091] Step 8311: Obtain the offset distance value based on the current distance value and the reference interval distance value.

[0092] The offset distance value refers to the distance at which the drone is detected to have deviated. The offset distance value is obtained by calculating the difference between the current distance value and the reference interval distance value.

[0093] Step 840: When the positioning information matches the assisted arrival position, in response to the detection of drone position offset prompt, obtain the offset distance value based on the current distance value and the interval distance value.

[0094] When the reason for issuing a warning about the drone's position deviation is that the positioning information is consistent with the assisted arrival position, the deviation distance value can be obtained by directly calculating the difference between the current distance value and the interval distance value.

[0095] Step 85: Based on the offset distance value, control the detection drone to perform offset reset using a preset offset reset method.

[0096] The offset reset method refers to a method used to reset a detection drone that has experienced an offset. The specific offset reset method will be explained in detail in subsequent steps 850 to 8551, and will not be repeated here.

[0097] The control and detection drone uses an offset reset method to reset the offset distance value.

[0098] The offset reset method includes the following steps: Step 850: Collect current wind parameters.

[0099] This step is the same as step 7111 above, and will not be repeated here.

[0100] Step 851: Retrieve the current wind force value and current wind direction information based on the current wind force parameters.

[0101] The current wind force value refers to the current wind intensity. The current wind direction information refers to the current wind direction. By understanding the current wind force parameters, you can retrieve the current wind force value and current wind direction information.

[0102] Step 852: Update the broadcast location information based on the current distance value and location information.

[0103] By understanding the current location of the positioning drone, and combining the current distance between the positioning drone and the detection drone, the broadcast location information is updated for subsequent steps.

[0104] Step 853: Obtain the downwind direction information based on the positional relationship between the updated broadcast location information and the current location information.

[0105] Tailwind information refers to the wind direction information that a detection drone would need to fly in the direction that allows it to move more smoothly with the help of the wind (i.e., the tailwind direction), taking into account both the updated broadcast location information and the current location information. Since the detection drone needs to move from the updated broadcast location information to the current location information, the tailwind information can be obtained by understanding the positional relationship between the two locations.

[0106] Step 854: When the current wind direction information is inconsistent with the downwind information, determine the required power value based on the current wind force value and the offset distance value.

[0107] The required power value refers to the power required for the detection drone to reset itself by its own displacement. A preset reset database can be used to match the required power value with the current wind speed and displacement distance. This database stores different required power values ​​corresponding to different current wind speed and displacement distance values. The reset database is formed by those skilled in the art through sequential testing of different required power values ​​corresponding to different current wind speed and displacement distance values, and will not be elaborated upon here.

[0108] When the current wind direction information is inconsistent with the downwind direction information, it indicates that the offset reset direction of the detection drone is the headwind direction. The required power value needs to be determined first for subsequent steps.

[0109] Step 855: Generate the required power value based on the demand power value, and collect and detect the drone's power value.

[0110] The power requirement value refers to the amount of power needed for the drone to offset and reset using the required power value. The drone's current battery level is obtained through a power sensor on the drone.

[0111] The required power value can be found by using the preset power comparison table. The comparison table stores records the different required power values ​​corresponding to different required power values. The power comparison table is formed by a person skilled in the art after conducting tests on the different required power values ​​corresponding to different required power values. It will not be described in detail here.

[0112] Step 8550: When the drone's battery level exceeds the required battery level, the control detects that the drone will offset and reset to the required power level.

[0113] When the drone's battery level exceeds the required battery level, it indicates that the drone has sufficient power and can be directly controlled to offset and reset at the required power level.

[0114] Step 8551: When the drone's battery level does not exceed the required battery level, control the positioning drone to assist the detection drone in offset reset using a preset auxiliary offset reset method.

[0115] The auxiliary offset reset method refers to a method used to assist the detection drone in resetting its offset. The specific auxiliary offset reset method will be explained in detail in subsequent steps 85510 to 855113, and will not be repeated here. When the drone's battery level is below the required level, it indicates that the detection drone's battery is insufficient, and the positioning drone needs to be controlled to assist the detection drone in resetting its offset using the auxiliary offset reset method.

[0116] Reference Figure 6 The auxiliary offset reset method includes the following steps: Step 85510: Retrieve the positioning model information of the drone and the detection model information of the drone.

[0117] The positioning model information refers to the specific model parameters of the drone being located. The detection model information refers to the specific model parameters of the drone being detected. Both the positioning model information and the detection model information are retrieved from a preset model storage terminal. The model storage terminal stores model information for various types of drones. The model storage terminal is pre-entered by those skilled in the art and will not be elaborated upon here.

[0118] Step 855100: Obtain the size of the positioning drone based on the positioning model information.

[0119] The size of a positioning drone refers to its dimensions. The size of a positioning drone can be determined by understanding its model information. The model information includes the drone's dimensions.

[0120] Step 855101: Obtain the size of the drone based on the detection model information.

[0121] The size of the drone being inspected refers to its dimensions. The size of the drone can be determined by understanding its model information. The model information includes the drone's dimensions.

[0122] Step 855102: When the size of the positioning drone is not smaller than the size of the detection drone, collect the air density.

[0123] Air density refers to the density of air in a region at high altitude. Air density is measured using a density meter pre-installed on the positioning drone.

[0124] If the size of the positioning drone is not smaller than the size of the detection drone, it means that the positioning drone is larger than the detection drone, and air density needs to be collected first for subsequent steps.

[0125] Step 855103: Generate the wake range based on the current wind speed, the size of the drone, the air density, and the preset reset flight speed.

[0126] The reset flight speed refers to the speed at which the positioning drone flies when assisting in the drone's reset. The reset flight speed is preset by those skilled in the art and will not be elaborated upon here. The wake range refers to the area of ​​airflow disturbance formed behind the positioning drone during its flight. A preset wake database can be used to match the wake range corresponding to the current wind speed, positioning drone size, air density, and reset flight speed. This database stores various wake ranges corresponding to different current wind speeds, positioning drone sizes, air densities, and reset flight speeds. The wake database is formed by those skilled in the art through wind tunnel testing of different wake ranges corresponding to different current wind speeds, positioning drone sizes, air densities, and reset flight speeds, and will not be elaborated upon here.

[0127] Step 855104: Generate the reset arrival position of the drone based on the detected drone size, wake range, and current distance value.

[0128] The reset arrival position refers to the location that the positioning drone needs to reach before the assisted detection drone performs its offset reset. First, by understanding the dimensions of the detection drone, we can determine the airflow range required for effective reset within the wake vortex. Then, by understanding the wake vortex range, we can clarify its shape, boundaries, and effective area in space. Next, using the detection drone as the center and combining it with the current distance value, we can determine the distance the positioning drone needs to approach. Based on this, a spatial geometric algorithm is used to calculate the reset arrival position of the positioning drone. Spatial geometric algorithms are common knowledge in this field and will not be elaborated upon here.

[0129] Step 855105: Control the positioning drone to move to the reset position, and control the detection drone and positioning drone to move synchronously to perform offset reset.

[0130] The system controls the positioning drone to proceed to the reset position, and upon arrival, controls the detection drone and positioning drone to move synchronously to perform offset reset.

[0131] Reference Figure 7 The auxiliary offset reset method also includes the following steps: Step 85511: Retrieve the positioning model information of the drone and the detection model information of the drone.

[0132] This step is the same as step 85510 above, and will not be repeated here.

[0133] Step 855110: Obtain the weight of the positioning drone based on the positioning model information, and obtain the weight of the detection drone based on the detection model information.

[0134] The weight of a location-tracking drone refers to its weight value. The weight of a location-tracking drone can be retrieved through its model information; this information is included in the model information.

[0135] The term "drone weight detection" refers to detecting the weight value of the drone. The weight of the drone can be retrieved by checking its model information; this information is included in the model information.

[0136] Step 855111: Obtain the maximum power value based on the current wind force value, offset distance value, and drone battery level.

[0137] Maximum power value refers to the maximum power that the drone can utilize. A power database can be used to match the current wind speed, offset distance, and drone battery level to the corresponding maximum power value. This database stores different maximum power values ​​corresponding to different current wind speed, offset distance, and drone battery levels. This correspondence was also established by those skilled in the art through sequential testing of different maximum power values ​​corresponding to different current wind speed, offset distance, and drone battery levels, and the results were recorded; therefore, they will not be elaborated upon here.

[0138] Step 855112: Generate traction power value based on maximum power value, required power value, location drone weight, and detected drone weight.

[0139] The traction power value refers to the power required by the positioning drone to tow the detection drone. A pre-set traction database can be used to match the maximum power value, required power value, weight of the positioning drone, and weight of the detection drone with the corresponding traction power values. This database stores different traction power values ​​corresponding to different maximum power values, required power values, weights of the positioning drone, and weights of the detection drone. The traction database was formed by those skilled in the art through sequential testing of different traction power values ​​corresponding to different maximum power values, required power values, weights of the positioning drone, and weights of the detection drone, and the results are recorded; details will not be elaborated here.

[0140] Step 855113: Control the positioning drone to establish a traction connection with the detection drone, and after the connection is completed, control the positioning drone to move with the traction power value, while controlling the detection drone to move synchronously with the maximum power value.

[0141] The positioning drone and the detection drone are connected by a towing mechanism. After the connection is established, the positioning drone moves with a traction force value, while the detection drone moves synchronously with a maximum force value. This allows the positioning drone to assist the detection drone in completing the offset reset.

[0142] Optionally, a connection method for towing the positioning drone and the detection drone is also included: Step 8551130: Control the positioning drone to collect and detect the appearance image information of the drone.

[0143] External appearance information refers to images obtained by detecting the external appearance of a drone. External appearance information is obtained by taking pictures using cameras mounted on the drone.

[0144] Step 8551131: Identify the preset traction interface features from the appearance image information and mark them to obtain the traction interface position.

[0145] The towing interface feature refers to the external outline of the pre-defined towing interface on the UAV when it needs to be towed. This feature is pre-defined by those skilled in the art and will not be elaborated upon here. The towing interface position refers to the location of the towing interface on the UAV. The towing interface feature can be identified through external image information, and this feature can be marked to determine the towing interface position. Image recognition technology is common knowledge in the field and will not be elaborated upon here.

[0146] Step 8551132: Obtain the launch angle based on the traction interface position and the preset traction rope launch position.

[0147] The traction tether launch position refers to the location on the positioning drone used to launch the traction tether. This launch position is predetermined by those skilled in the art and will not be elaborated upon here. The traction tether is the rope used to connect the positioning drone and the detection drone. The launch angle refers to the angle at which the positioning drone launches the traction tether. By understanding the positional relationship between the traction interface position and the traction tether launch position, the angles between them in the horizontal and vertical directions can be determined. Finally, combining these two angles yields the launch angle.

[0148] Step 8551133: Generate a launch force value based on the launch angle, current distance value, and current wind force value.

[0149] The launch force value is the force value of the drone when the traction rope is applied. A preset launch database can be used to match the launch angle, current distance, and current wind speed with the corresponding launch force value. This database stores different launch force values ​​corresponding to different launch angles, current distances, and current wind speeds. The launch database was formed by those skilled in the art through sequential testing of different launch force values ​​corresponding to different launch angles, current distances, and current wind speeds, and the results are recorded here. Details will not be elaborated upon here.

[0150] Step 8551134: Control the positioning drone to launch a preset traction rope towards the traction interface position with the launch force value and launch angle to complete the traction connection.

[0151] The control and positioning drone launches a traction rope toward the traction interface position with a launch force value and launch angle to complete the traction connection.

[0152] Based on the same inventive concept, embodiments of the present invention provide a high-altitude environment detection system based on unmanned aerial vehicles (UAVs), comprising: The data acquisition module is used to collect detection information, remaining battery power, current battery power, charging image information, current wind parameters, detection image information, positioning information, drone battery power, and air density. The memory is used to store the program that implements a high-altitude environment detection method based on UAVs; The processor is used to load and execute programs stored in memory.

[0153] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0154] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1.A method for detecting high-altitude environment based on a UAV, characterized in that, Comprise: S1: in response to a preset detection signal to collect detection information; S2: based on the detection information to call the altitude value; S3: in response to the altitude value to generate flight demand power value; S4: from the preset flight database to match out the corresponding unmanned aerial vehicle model of the flight demand power value; S5: control the corresponding unmanned aerial vehicle of the unmanned aerial vehicle model to rise at the altitude value, and after completing the flight, control the unmanned aerial vehicle to detect, so as to complete the detection. 2.The method of claim 1, wherein, Also includes auxiliary positioning method: S60: when the altitude value is higher than the preset reference height value, define the current unmanned aerial vehicle corresponding to the unmanned aerial vehicle as the detection unmanned aerial vehicle; S61: control the detection unmanned aerial vehicle to output the current position information, and after completing the output, close the preset positioning function of the detection unmanned aerial vehicle; S62: based on the altitude value, the current position information and the preset interval distance value to generate auxiliary arrival position; S63: based on the interval distance value and the auxiliary arrival position to generate broadcast position information; S64: control the preset positioning unmanned aerial vehicle to rise to the auxiliary arrival position, and based on the broadcast position information to report the position. 3.The method of claim 2, wherein, Also includes the power supply method of the detection unmanned aerial vehicle: S70: collect the remaining power value of the detection unmanned aerial vehicle; S71: when the remaining power value is lower than the preset reference power value, collect the current power value of the positioning unmanned aerial vehicle; S710: if the current power value is lower than the preset charging power value, control the positioning unmanned aerial vehicle to return to the preset battery replacement area for battery replacement, and when the positioning unmanned aerial vehicle completes the battery replacement, control the positioning unmanned aerial vehicle to re go to the auxiliary arrival position to complete the reset; S711: if the current power value is not lower than the charging power value or after completing the reset, control the positioning unmanned aerial vehicle to charge the detection unmanned aerial vehicle by the preset charging method. 4.The method of claim 3, wherein, The charging method comprises: S7110: control the detection unmanned aerial vehicle to open the preset charging disc placement area to lower the preset charging disc; S7111: after completing the charging disc lowering, control the positioning unmanned aerial vehicle to collect charging image information and current wind power parameter; S7112: identify the preset charging disc feature from the charging image information to mark the charging disc to obtain the charging disc action track; S7113: based on the current wind power parameter, the charging disc action track and the preset charging disc weight to generate the charging disc expected position; S7114: based on the auxiliary arrival position and the charging disc expected position to obtain the charging angle value; S7115: based on the interval distance value and the charging disc expected position to obtain the charging distance value; S7116: control the charging device preset on the positioning unmanned aerial vehicle to adjust the angle at the charging angle value, and after completing the angle adjustment, extend the length at the charging distance value, so as to reach the charging disc expected position, and then connect with the charging disc by magnetic attraction. 5.The method of claim 2, wherein, Also includes interval distance verification method: S80: Collect detection image information of the positioning drone; S81: Obtain a current distance value based on the detection image information, a preset drone feature, and a reference object; S82: When the current distance value is inconsistent with the interval distance value, collect positioning location information of the positioning drone; S83: When the positioning location information is inconsistent with the auxiliary arrival location, calculate a distance value between the positioning location information and the auxiliary arrival location to obtain a displacement distance value; S830: Obtain a reference displacement distance value based on the current distance value and the interval distance value; S831: When the displacement distance value is inconsistent with the reference displacement distance value, output a detection drone position offset prompt; S84: When the positioning location information is consistent with the auxiliary arrival location, output a detection drone position offset prompt. 6.The method of claim 5, wherein, The offset processing method comprises: S8310: When the positioning location information is inconsistent with the auxiliary arrival location, in response to a detection drone position offset prompt, calculate a difference value between the displacement distance value and the interval distance value as a reference interval distance value; S8311: Obtain an offset distance value based on the current distance value and the reference interval distance value; S840: When the positioning location information is consistent with the auxiliary arrival location, in response to a detection drone position offset prompt, obtain an offset distance value based on the current distance value and the interval distance value; S85: Based on the offset distance value, control the detection drone to perform offset reset in a preset offset reset method. 7.The method of claim 6, wherein, The offset reset method comprises: S850: Collect a current wind power parameter; S851: Based on the current wind power parameter, retrieve a current wind power value and current wind direction information; S852: Based on the current distance value and the positioning location information, update broadcast location information; S853: Based on a positional relationship between the updated broadcast location information and the current location information, obtain a downwind wind direction information; S854: When the current wind direction information is inconsistent with the downwind wind direction information, determine a required power value according to the current wind power value and the offset distance value; S855: Based on the required power value, generate a required power value, and collect a drone power value of the detection drone; S8550: When the drone power value exceeds the required power value, control the detection drone to perform offset reset at the required power value; S8551: When the drone power value does not exceed the required power value, control the positioning drone to assist the detection drone to perform offset reset in a preset auxiliary offset reset method. 8.The method of claim 7, wherein, The auxiliary offset reset method comprises: S85510: Retrieve positioning model information of the positioning drone and detection model information of the detection drone; S855100: Obtain a positioning drone size based on the positioning model information; S855101: Obtain a detection drone size based on the detection model information; S855102: When the positioning drone size is not smaller than the detection drone size, collect air density; S855103: generating a wake range based on the current wind value, the positioning UAV size, the air density, and a preset reset flight speed; S855104: generating a reset arrival position of the positioning UAV based on the detection UAV size, the wake range, and the current distance value; S855105: controlling the positioning UAV to go to the reset arrival position, and controlling the detection UAV and the positioning UAV to move synchronously, so as to perform the offset reset. 9.The method of claim 7, wherein, The auxiliary offset reset method further comprises: S85511: calling positioning model information of the positioning UAV and detection model information of the detection UAV; S855110: obtaining a positioning UAV weight based on the positioning model information, and obtaining a detection UAV weight based on the detection model information; S855111: obtaining a maximum power value according to the current wind value, the offset distance value, and the UAV power value; S855112: generating a traction power value based on the maximum power value, the required power value, the positioning UAV weight, and the detection UAV weight; S855113: controlling the positioning UAV to be connected with the detection UAV in traction, and after the connection is completed, controlling the positioning UAV to move at the traction power value, while controlling the detection UAV to move synchronously at the maximum power value. 10.A high-altitude environment detection system based on a UAV, characterized in that, Comprise: a collection module, configured to collect detection information; a memory, configured to store a program for implementing the high-altitude environment detection method based on a UAV according to any one of claims 1 to 9; a processor, configured to load and execute the program stored in the memory.

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