A data comparison method and apparatus, a storage medium, and a device

Abstract

The application provides a data comparison method and device, a storage medium and equipment. The method is applied to the field of unmanned aerial vehicle technology. The method controls a child machine of a child-mother unmanned aerial vehicle to hover at a preset detection position, so as to obtain first meteorological data at a target height based on a first meteorological acquisition device. The method controls a mother machine of the child-mother unmanned aerial vehicle to fly along a preset detection route, so as to obtain second meteorological data at the target height based on a second meteorological acquisition device. The method determines target meteorological data closer to actual observation meteorological data from the first meteorological data and the second meteorological data. The child machine and the mother machine of the child-mother unmanned aerial vehicle obtain meteorological data at the target height in a dual-mode cooperative manner of hovering and route flying, and by using the same or different meteorological acquisition devices. According to comparison with actual observation meteorological data, a high-altitude meteorological detection method with low cost and high accuracy is determined.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a data comparison method, apparatus, storage medium, and device in the field of UAV technology. Background Technology

[0002] Currently, upper-air meteorological detection mainly relies on equipment such as weather balloons, upper-air meteorological drones, meteorological satellites, lidar, and commercial aircraft. However, these devices require high material and human resources costs. If meteorological data from the same altitude area is collected multiple times for comparison and verification, it will consume a huge amount of human and material resources. Summary of the Invention

[0003] This application provides a data comparison method, apparatus, storage medium, and device, which can determine a low-cost, high-efficiency upper-air meteorological detection method.

[0004] Firstly, a data comparison method is provided, applied to a terminal device for controlling a mother-daughter unmanned aerial vehicle (UAV). The mother-daughter UAV includes a mother unit and a daughter unit. The daughter unit is equipped with a first meteorological data acquisition device, and the mother unit is equipped with a second meteorological data acquisition device. The method includes: controlling the daughter unit to fly to a preset detection position at a target altitude and hovering at the preset detection position to acquire first meteorological data at the target altitude based on the first meteorological data acquisition device; when a first distance between the daughter unit and the mother unit is greater than a first preset distance, controlling the mother unit to enter a preset detection route at the target altitude and fly along the preset detection route to acquire second meteorological data at the target altitude based on the second meteorological data acquisition device. The first meteorological data acquisition device and the second meteorological data acquisition device may be the same or different; comparing the first meteorological data and the second meteorological data with third meteorological data respectively, and determining the target meteorological data that is closer to the third meteorological data between the first meteorological data and the second meteorological data, wherein the third meteorological data is the actual observed meteorological data at the target altitude.

[0005] The above technical solution controls the slave drone to hover at a preset detection position to acquire first meteorological data at the target altitude based on a first meteorological data acquisition device; the mother drone is controlled to fly along a preset detection route to acquire second meteorological data at the target altitude based on a second meteorological data acquisition device; and target meteorological data that is closer to the actual observed meteorological data is determined from the first and second meteorological data. The slave and mother drones of the mother drone cooperate in a dual-modal manner of hovering and flight along a route, and use the same or different meteorological data acquisition devices to acquire meteorological data at the target altitude. Based on the comparison with the actual observed meteorological data, a low-cost, high-accuracy upper-air meteorological detection method is determined.

[0006] In conjunction with the first aspect, in some possible implementations, before the step of controlling the slave drone to fly to a preset detection position at the target altitude and hovering at the preset detection position to acquire the first meteorological data at the target altitude based on the first meteorological acquisition device, the method further includes: after controlling the mother drone to fly to the preset hovering position, disconnecting the connection between the mother drone and the slave drone, the preset hovering position being located directly below the preset detection position, and the second distance between the preset hovering position and the preset detection position being a second preset distance.

[0007] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the slave unit is equipped with a pump control module, an air guide tube, and a suction cup. The suction cup is used to connect the slave unit and the mother unit. The step of disconnecting the connection between the mother unit and the slave unit after controlling the mother-daughter UAV to fly to the preset hovering position includes: after controlling the mother-daughter UAV to fly to the preset hovering position, starting the motor of the slave unit, so as to inject air into the air guide tube based on the motor control pump control module, so as to separate the suction cup from the mother unit.

[0008] In conjunction with the first aspect and the above-described implementations, in some possible implementations, the slave unit includes a vision module, which includes a laser ranging device. The step of controlling the slave unit to fly to a preset detection position at the target altitude and hover at the preset detection position to acquire first meteorological data at the target altitude based on the first meteorological data acquisition device includes: when the master unit and the slave unit are disconnected, controlling the slave unit to fly to the preset detection position at the target altitude and activating the vision module to acquire a first distance between the master unit and the slave unit based on the laser ranging device; when the first distance is greater than a first preset distance, deactivating the vision module and controlling the slave unit to fly to the preset detection position; when the slave unit reaches the preset detection position, controlling the slave unit to hover at the preset detection position to acquire first meteorological data at the target altitude based on the first meteorological data acquisition device.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after the step of controlling the mother aircraft to enter the preset detection route at the target altitude and fly along the preset detection route to obtain the second meteorological data at the target altitude based on the second meteorological acquisition equipment when the first distance between the slave aircraft and the mother aircraft is greater than the first preset distance, the method further includes: when the mother aircraft flies along the preset detection route for a first preset time or flies along the preset detection route for a preset number of times, controlling the mother aircraft to return to the preset hovering position and maintaining hovering at the preset hovering position; when the mother aircraft reaches the preset hovering position, controlling the slave aircraft to return to the preset hovering position; and controlling the slave aircraft to connect with the mother aircraft at the preset hovering position.

[0010] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the step of controlling the slave machine to return to the preset hovering position when the master machine reaches the preset hovering position includes: when the master machine reaches the preset hovering position, activating the vision module of the slave machine; and controlling the slave machine to return to the preset hovering position based on the vision module.

[0011] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the step of controlling the connection between the slave unit and the master unit at the preset hovering position includes: obtaining a third distance between the slave unit and the master unit; when the third distance is less than a third preset distance, controlling the pump control module to draw air through the air guide pipe so that the suction cup is adsorbed on the positioning bearing platform of the master unit; obtaining a fourth distance between the slave unit and the master unit; when the fourth distance is less than a fourth preset distance, and the duration of the fourth distance being less than the fourth preset distance reaches a second preset duration, determining that the connection between the slave unit and the master unit is completed, controlling the pump control module to stop drawing air, and the fourth preset distance is less than the third preset distance.

[0012] Secondly, a data comparison device is provided, the device comprising: The sub-unit control unit is used to control the sub-unit to fly to a preset detection position at the target altitude and hover at the preset detection position in order to acquire the first meteorological data at the target altitude based on the first meteorological acquisition device; The mother unit control unit is used to control the mother unit to enter the preset detection route at the target altitude when the first distance between the daughter unit and the mother unit is greater than the first preset distance, and fly along the preset detection route to obtain second meteorological data at the target altitude based on the second meteorological acquisition device. The first meteorological acquisition device and the second meteorological acquisition device may be the same or different. The data comparison unit is used to compare the first meteorological data and the second meteorological data with the third meteorological data respectively, and to determine the target meteorological data that is closer to the third meteorological data among the first meteorological data and the second meteorological data. The third meteorological data is the actual observed meteorological data at the target altitude.

[0013] Thirdly, a terminal device is provided, the terminal device including: a memory for storing executable program code; A processor for calling and running executable program code from memory to perform the methods in the first aspect or any possible implementation of the first aspect described above.

[0014] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a terminal device, causes the terminal device to execute the method described in the first aspect or any possible implementation thereof.

[0015] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0016] Figure 1 This is a system architecture diagram of a data comparison method provided in an embodiment of this application; Figure 2 This is a flowchart illustrating a data comparison method provided in an embodiment of this application; Figure 3 This is a flowchart illustrating a data comparison method provided in an embodiment of this application; Figure 4 This is an example schematic diagram of a mother-daughter unmanned aerial vehicle provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a multi-rotor weather drone provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a vertical take-off fixed-wing weather unmanned mother aircraft provided in an embodiment of this application; Figure 7 This is a schematic diagram of a mother-daughter UAV detection and control process provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of a data comparison device provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0017] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0018] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0019] Please see Figure 1 , Figure 1This is a system architecture diagram of a data comparison method provided in an embodiment of this application. For example... Figure 1 As shown in the embodiments of this application, the data comparison method is applied to upper-air meteorological detection scenarios. It sends control commands to a mother-daughter drone via a terminal device to control the mother-daughter drone to acquire upper-air meteorological data, and then receives the meteorological data transmitted by the mother-daughter drone. The terminal device includes, but is not limited to, mobile phones, personal computers, laptops, remote controls, and other devices capable of wirelessly controlling the mother-daughter drone. The mother-daughter drone includes a mother drone and a daughter drone; the daughter drone is equipped with a first meteorological data acquisition device, and the mother drone is equipped with a second meteorological data acquisition device.

[0020] Upper-air meteorological sounding is a crucial component of meteorological observation systems. By acquiring atmospheric parameters at different altitudes, it provides fundamental data support for activities such as weather forecasting, climate research, and aviation safety. However, relevant upper-air meteorological sounding methods primarily rely on expensive and time-consuming equipment such as weather balloons, upper-air meteorological drones, meteorological satellites, lidar, and commercial aircraft. Upper-air meteorological sounding often requires multiple acquisitions of meteorological data for subsequent comparison, verification, and optimization, which incurs enormous human and material costs if the aforementioned equipment is used.

[0021] To address the aforementioned issues, this application provides a data comparison method. The method involves controlling the slave unit of a mother-daughter UAV to hover at a preset detection position to acquire first meteorological data at a target altitude using a first meteorological data acquisition device; controlling the mother unit of the mother-daughter UAV to fly along a preset detection route to acquire second meteorological data at the target altitude using a second meteorological data acquisition device; and determining target meteorological data that more closely approximates actual observed meteorological data from the first and second meteorological data. The slave and mother units of the mother-daughter UAV, using a dual-modal collaborative approach of hovering and flight along a predetermined route, and employing the same or different meteorological data acquisition devices, acquire meteorological data at the target altitude. Based on the comparison with actual observed meteorological data, a low-cost, high-accuracy upper-air meteorological detection method is determined.

[0022] based on Figure 1 The system architecture diagram will be presented below, in conjunction with... Figures 2-7 The data comparison method provided in the embodiments of this application will be described in detail.

[0023] Please see Figure 2 , Figure 2 This is a flowchart illustrating a data comparison method provided in an embodiment of this application. Figure 2 As shown, the method in this application embodiment may include the following steps S101-S105.

[0024] S101, control the sub-unit to fly to the preset detection position at the target altitude, and keep hovering at the preset detection position to obtain the first meteorological data at the target altitude based on the first meteorological acquisition device; Specifically, the embodiments of this application are applied to a terminal device for controlling a mother-daughter unmanned aerial vehicle (UAV). The mother-daughter UAV includes a mother unit and a daughter unit. The daughter unit is equipped with a first meteorological data acquisition device. After the mother unit and the daughter unit are disconnected, the terminal device controls the daughter unit to fly to a preset detection position at the target altitude and hover at the preset detection position. Based on the first meteorological data acquisition device, the daughter unit acquires the first meteorological data at the target altitude.

[0025] The terminal device connects to the mother-daughter drone via wireless technologies such as Bluetooth and local area network. Before conducting upper-air meteorological detection missions, target location information, including longitude, latitude, and altitude, is pre-programmed into the terminal device. Meteorological data includes wind speed, wind direction, temperature, humidity, and air pressure. Correspondingly, the meteorological data acquisition equipment for wind speed and direction includes ultrasonic anemometers, airspeed tubes, and airspeed meters; for temperature and humidity, it includes temperature and humidity sensors; and for air pressure, it includes barometers and barometers.

[0026] S102, when the first distance between the slave unit and the mother unit is greater than the first preset distance, control the mother unit to enter the preset detection route at the target altitude and fly along the preset detection route to obtain the second meteorological data at the target altitude based on the second meteorological acquisition equipment. The first meteorological acquisition equipment and the second meteorological acquisition equipment may be the same or different. Specifically, when the slave aircraft flies towards the preset detection position, it acquires the first distance between the slave aircraft and the mother aircraft. When the first distance is greater than a first preset distance, it controls the mother aircraft to enter the preset detection route at the target altitude and fly along the preset detection route. The mother aircraft is equipped with a second meteorological data acquisition device, which acquires second meteorological data at the target altitude while the mother aircraft flies along the preset detection route.

[0027] The first meteorological data acquisition device installed on the slave unit and the second meteorological data acquisition device installed on the mother unit can be the same or different meteorological data acquisition devices. This embodiment aims to control the mother unit and slave unit to simultaneously acquire meteorological data at a target altitude, selecting the upper-air meteorological detection method that best approximates the actual observed meteorological data. The upper-air meteorological detection method is a combination of the UAV's flight mode and the meteorological data acquisition devices. The mother unit flies along a preset detection route at the target altitude, while the slave unit hovers at a preset detection position. Different flight modes result in different acquired meteorological data. Therefore, the mother unit and slave unit can acquire meteorological data using the same or different meteorological data acquisition devices. After completing one upper-air meteorological detection mission, the meteorological data acquisition devices are exchanged, and meteorological data is acquired again. By combining different flight modes with different meteorological data acquisition devices, an accurate upper-air meteorological detection method can be determined based on the acquired meteorological data.

[0028] S103, compare the first meteorological data and the second meteorological data with the third meteorological data respectively, and determine the target meteorological data that is closer to the third meteorological data among the first meteorological data and the second meteorological data. The third meteorological data is the actual observed meteorological data at the target altitude.

[0029] Specifically, after acquiring meteorological data, the meteorological data acquisition equipment in the mother and daughter units sends the data to the terminal equipment. The terminal equipment compares the first and second meteorological data with a third meteorological data to determine the target meteorological data that is closest to the third meteorological data, which is the actual observation data at the target altitude. The upper-air meteorological detection method corresponding to the target meteorological data is then determined as the more accurate upper-air meteorological detection method for this meteorological survey.

[0030] In this embodiment, the slave unit of the mother-daughter UAV is controlled to hover at a preset detection position to acquire first meteorological data at a target altitude based on a first meteorological data acquisition device; the mother unit of the mother-daughter UAV is controlled to fly along a preset detection route to acquire second meteorological data at the target altitude based on a second meteorological data acquisition device; target meteorological data that is closer to the actual observed meteorological data is determined from the first and second meteorological data. The slave and mother units of the mother-daughter UAV, in a dual-modal cooperative manner of hovering and flight along a route, and using the same or different meteorological data acquisition devices, acquire meteorological data at the target altitude, and based on the comparison with the actual observed meteorological data, a low-cost, high-accuracy upper-air meteorological detection method is determined.

[0031] Please see Figure 3 , Figure 3 This is a flowchart illustrating a data comparison method provided in an embodiment of this application. Figure 3 As shown, the method in this application embodiment may include the following steps S201-S208.

[0032] S201: After controlling the mother-daughter UAV to fly to the preset hovering position, disconnect the connection between the mother UAV and the daughter UAV; Specifically, this application embodiment applies to a terminal device for controlling a mother-daughter unmanned aerial vehicle (UAV), which includes a mother unit and a daughter unit. When the mother unit and daughter unit are connected, the terminal device controls the mother unit, thereby controlling the entire mother-daughter UAV to fly to a preset hovering position. After the mother-daughter UAV reaches the preset hovering position, the connection between the mother unit and the daughter unit is disconnected. The daughter unit is equipped with a pump control module, an air duct, and a suction cup. The suction cup is used to connect the daughter unit and the mother unit. When the mother-daughter UAV flies to the preset hovering position, the daughter unit's motor is activated, and air is injected into the air duct based on the motor control pump control module, causing the suction cup to separate from the mother unit.

[0033] The terminal device and the mother-daughter drone are connected via wireless connection technologies such as Bluetooth and local area network. Before carrying out the high-altitude meteorological detection mission, the target location information is pre-written into the terminal device. The target location information includes the longitude, latitude, altitude and other information of the target location. At this time, the target location is the preset hovering position.

[0034] Please see Figure 4 , Figure 4 This is an example schematic diagram of a mother-daughter unmanned aerial vehicle (UAV) provided in an embodiment of this application. Figure 4 As shown in the embodiments of this application, the mother drone in the mother-daughter unmanned aerial vehicle (UAV) system is a vertical take-off and landing (VTOL) fixed-wing weather UAV, and the daughter drone is a multi-rotor weather UAV. The mother drone is located below the daughter drone and carries it. When the mother drone and the daughter drone are connected, the entire mother-daughter UAV system can be controlled simply by controlling the mother drone. The VTOL fixed-wing weather UAV combines the advantages of vertical take-off and landing and fixed-wing flight, possessing advantages such as flexible take-off and landing, long endurance, high speed, and large payload capacity; the multi-rotor weather UAV is flexible in operation, simple in structure, and has precise hovering capabilities.

[0035] S202, when the mother machine and the daughter machine are disconnected, control the daughter machine to fly to the preset detection position at the target altitude and activate the vision module to obtain the first distance between the mother machine and the daughter machine based on the laser ranging device; Specifically, the slave unit also includes a vision module, which contains a laser rangefinder. When the master unit and slave unit disconnect, the slave unit flies to a preset detection position at the target altitude and activates the vision module. The laser rangefinder within the vision module then determines the first distance between the master unit and the slave unit. The preset detection position is at the target altitude, and the preset hovering position is directly below it. The second distance between the preset hovering position and the preset detection position is a second preset distance. The position information of the preset detection position is also stored in the terminal device.

[0036] S203, when the first distance is greater than the first preset distance, the vision module is turned off and the submachine is controlled to fly to the preset detection position; Specifically, the vision module is used to determine the distance between the slave and master aircraft, enabling the slave aircraft to locate the master aircraft's position for high-altitude connection. When the initial distance between the master and slave aircraft exceeds a preset distance, the vision module is deactivated, and the slave aircraft flies to a preset detection position. When the slave aircraft is far from the master aircraft and no longer needs to rely on the vision module for positioning and navigation, deactivating the vision module conserves power, extends its flight time, and allows it to better perform high-altitude meteorological reconnaissance tasks. The slave aircraft also includes a Global Positioning System (GPS); with the vision module deactivated, the slave aircraft can navigate to the preset detection position using GPS positioning.

[0037] S204, When the slave unit reaches the preset detection position, control the slave unit to hover at the preset detection position so as to acquire the first meteorological data at the target height based on the first meteorological acquisition device; Specifically, hovering detection and flight path detection methods affect the accuracy of the acquired meteorological data. To compare the impact of the two flight methods on meteorological data, this embodiment uses a multi-rotor meteorological unmanned aerial vehicle (UAV) for hovering detection. When the UAV reaches a preset detection position, it is controlled to hover at the preset detection position, and the first meteorological data at the target altitude is acquired based on the first meteorological acquisition equipment installed on the UAV.

[0038] The meteorological data includes wind speed, wind direction, temperature, humidity, and air pressure. Correspondingly, the meteorological data acquisition equipment for acquiring wind speed and direction includes ultrasonic anemometers, airspeed tubes, and airspeed meters; the meteorological data acquisition equipment for measuring temperature and humidity includes temperature and humidity sensors; and the meteorological data acquisition equipment for measuring air pressure includes barometers and air pressure sensors.

[0039] Assuming the first meteorological data acquisition device in the slave unit includes a temperature and humidity sensor and an ultrasonic anemometer, please refer to [link / reference needed]. Figure 5 , Figure 5 This is a structural schematic diagram of a multi-rotor weather sub-drone provided in an embodiment of this application. For example... Figure 5 As shown, the main components of the multi-rotor meteorological drone are a first data transmission aerial terminal, a first GPS, a two-degree-of-freedom turntable support, a pump control module, a suction cup, an air duct, a vision module, a first flight controller, an ultrasonic anemometer, and a first temperature and humidity sensor. The first data transmission aerial terminal is responsible for data transmission with the terminal equipment, transmitting real-time meteorological data collected by the first meteorological acquisition device and information such as the flight status of the multi-rotor meteorological drone back to the terminal equipment. It can also receive commands from the terminal equipment, enabling remote control and data interaction. The first GPS provides precise positioning information for the multi-rotor meteorological drone, enabling it to determine its position in the air. The two-degree-of-freedom turntable support is used to support and adjust the angles of certain devices within the multi-rotor meteorological drone, such as the vision module or the first meteorological acquisition device, ensuring they can perform data acquisition and positioning at appropriate angles, improving measurement accuracy and reliability. The pump control module works in conjunction with the suction cup and air duct to control air intake and exhaust, thus connecting and disconnecting the drone from the main unit. When the sub-drone lands on the mother drone, the suction cup generates negative pressure by drawing air, allowing the sub-drone to firmly adhere to the positioning platform of the mother drone, ensuring a stable connection. The air duct connects the pump control module and the suction cup, conducting gas and enabling the suction cup to draw in and out air; it serves as the gas transfer channel between the pump control module and the suction cup. The vision module uses markers on the positioning platform of the mother drone for positioning, helping the multi-rotor weather drone accurately land on the vertical take-off and landing fixed-wing weather drone mother drone. Furthermore, the vision module includes laser ranging capabilities, measuring the distance between the sub-drone and the mother drone, providing precise distance information for the docking operation. The first flight controller is the core control unit of the multi-rotor weather drone, responsible for processing data collected by the first weather acquisition device. Based on the preset weather detection tasks and instructions received from the terminal equipment, it controls the flight attitude, speed, and flight path of the multi-rotor weather drone, ensuring stable and safe flight and the completion of the weather detection mission. Ultrasonic anemometers utilize the property that the speed of ultrasonic waves in air is related to wind speed to measure wind speed and direction. Since the speed of ultrasonic waves is affected by wind, their propagation speed increases when the direction is the same as the wind direction and decreases when it is opposite. By measuring the time difference of ultrasonic wave propagation in different directions, wind speed and direction can be calculated. Temperature and humidity sensors measure temperature and humidity using different physical properties. Temperature can be measured using a thermistor or thermocouple; humidity can be measured using capacitance or resistance.

[0040] S205, when the first distance between the slave unit and the mother unit is greater than the first preset distance, control the mother unit to enter the preset detection route at the target altitude and fly along the preset detection route to obtain the second meteorological data at the target altitude based on the second meteorological acquisition equipment; Specifically, when the first distance is greater than the first preset distance, while controlling the slave unit to autonomously fly towards the preset detection position, the mother unit is controlled to enter the preset detection route at the target altitude and fly along the preset detection route. The mother unit is equipped with a second meteorological data acquisition device, which acquires second meteorological data at the target altitude while the mother unit flies along the preset detection route.

[0041] The first meteorological data acquisition device installed on the slave unit and the second meteorological data acquisition device installed on the mother unit can be the same or different meteorological data acquisition devices. This embodiment aims to control the mother unit and slave unit to simultaneously acquire meteorological data at a target altitude, selecting the upper-air meteorological detection method that best approximates the actual observed meteorological data. The upper-air meteorological detection method is a combination of the UAV's flight mode and the meteorological data acquisition devices. The mother unit flies along a preset detection route at the target altitude, while the slave unit hovers at a preset detection position. Different flight modes result in different acquired meteorological data. Therefore, the mother unit and slave unit can acquire meteorological data using the same or different meteorological data acquisition devices. After completing one upper-air meteorological detection mission, the meteorological data acquisition devices are exchanged, and meteorological data is acquired again. By combining different flight modes with different meteorological data acquisition devices, an accurate upper-air meteorological detection method can be determined based on the acquired meteorological data.

[0042] Assuming the second meteorological data acquisition device in the mothership includes a temperature and humidity sensor, an airspeed tube, and an airspeed meter, please refer to [link / reference needed]. Figure 6 , Figure 6 This is a structural schematic diagram of a vertical take-off and landing fixed-wing weather unmanned aerial vehicle (UAV) provided in an embodiment of this application. Figure 6As shown, the main components of the VTOL fixed-wing weather drone mother unit are a second data transmission air terminal, a second GPS, a positioning support platform, a second flight controller, an airspeed tube, an airspeed indicator, and a second temperature and humidity sensor. The second data transmission air terminal is responsible for transmitting real-time meteorological data or flight status data collected by the VTOL fixed-wing weather drone mother unit during flight to the terminal equipment. It also receives commands from the terminal equipment, enabling information exchange and remote control between the terminal equipment and the VTOL fixed-wing weather drone mother unit. The second GPS provides the VTOL fixed-wing weather drone mother unit with precise geographic location information, enabling it to determine its specific position during flight. The positioning support platform carries the multi-rotor weather drone daughter unit and uses QR codes or infrared light sources as positioning markers for the VTOL fixed-wing weather drone mother unit's visual module. This provides positioning reference for the multi-rotor weather drone daughter unit's landing, providing a stable landing position and ensuring successful docking between the multi-rotor weather drone daughter unit and the VTOL fixed-wing weather drone mother unit. The second flight controller is the core control unit of the vertical take-off and landing fixed-wing weather unmanned aerial vehicle (VTOL) mother aircraft. It can receive data collected from the second weather acquisition equipment, process the data, and control the flight attitude, speed, altitude, and route of the VTOL fixed-wing weather unmanned aerial vehicle mother aircraft according to the preset weather detection mission and the instructions of the terminal equipment, so as to ensure that the VTOL fixed-wing weather unmanned aerial vehicle mother aircraft can fly stably and safely and complete the weather detection mission.

[0043] The pitot tube and airspeed meter do not directly measure wind speed and direction. Instead, they combine the measurement of the fixed-wing weather drone's speed relative to the air with the drone's flight data to obtain wind speed and direction. The pitot tube measures the total and static pressure of the airflow. The airspeed meter is connected to the pitot tube. Based on the total and static pressure measurements, Bernoulli's equation is used to calculate the dynamic pressure of the airflow, thus determining the drone's speed relative to the airflow. To obtain wind speed, GPS data is used to determine the drone's speed relative to the ground while in flight. According to vector relationships, wind speed equals ground speed minus airspeed. Using the known ground speed and the measured airspeed, vector calculations are performed to calculate the wind speed. To obtain wind direction, the drone's attitude information (such as heading angle) and the calculated wind speed vector are combined to determine the wind direction. For example, when a fixed-wing weather drone flies along a fixed heading on a preset detection route, if it is found that the fixed-wing weather drone is deviating from the preset detection route, the wind direction can be obtained based on the direction of the deviation and the calculated wind speed.

[0044] S206, compare the first meteorological data and the second meteorological data with the third meteorological data respectively, and determine the target meteorological data that is closer to the third meteorological data among the first meteorological data and the second meteorological data. The third meteorological data is the actual observed meteorological data at the target altitude. Specifically, after the meteorological data is acquired by the meteorological acquisition equipment in the mother and daughter aircraft, it is processed by their respective flight controllers and then transmitted to the terminal equipment via the data transmission terminal. The terminal equipment compares the first and second meteorological data with a third meteorological data to determine the target meteorological data that is closest to the third meteorological data, which is the actual observation data at the target altitude. The upper-air meteorological detection method corresponding to the target meteorological data is determined as the more accurate upper-air meteorological detection method in this meteorological observation.

[0045] S207: When the mother aircraft flies along the preset detection route for a first preset time, or when the mother aircraft flies along the preset detection route for a preset number of times, control the mother aircraft to return to the preset hovering position and maintain hovering at the preset hovering position; Specifically, in this embodiment, the flight time of the mother aircraft is preset, and the number of flight circles along the preset detection route is obtained to determine whether the weather detection mission of the mother aircraft has ended. When the mother aircraft flies along the preset detection route for a first preset time, or flies along the preset detection route for a preset number of circles, it is determined that the weather detection mission of the mother aircraft has ended, and the mother aircraft is controlled to return to the preset hovering position. The mother aircraft hovers at the preset hovering position in multi-rotor mode to wait for the daughter aircraft to return and connect with the mother aircraft, and then the mother and daughter UAVs are controlled to return to the ground as a whole.

[0046] S208: When the mother machine reaches the preset hovering position, the slave machine is controlled to return to the preset hovering position, and the slave machine is controlled to connect with the mother machine at the preset hovering position.

[0047] Specifically, the slave and master units need to connect at a preset hovering position before returning to the ground together. The master unit has a positioning platform to support the slave unit. Therefore, when the master unit reaches the preset hovering position, the slave unit's vision module is activated. Based on the vision module, the slave unit is controlled to return to the preset hovering position. The vision module can acquire a mark on the positioning platform of the master unit and fly towards the preset hovering position of the master unit according to the mark. The third distance between the slave and master units is obtained using a laser rangefinder in the vision module. When the third distance is less than a third preset distance, the pump control module is controlled to draw air through the air duct to allow the suction cup to adhere to the positioning platform of the master unit. A fourth distance between the slave and master units is then obtained. When the fourth distance is less than a fourth preset distance, and the duration of this distance reaches a second preset duration, the connection between the slave and master units is confirmed to be complete, and the pump control module stops drawing air. The fourth preset distance is less than the third preset distance. Please refer to [link to relevant documentation]. Figure 7 , Figure 7 This is a schematic diagram of a mother-daughter UAV detection and control process provided in an embodiment of this application.

[0048] In this embodiment, the connection between the mother aircraft and the slave aircraft is disconnected at a preset hovering position, and the slave aircraft is controlled to fly towards a preset detection position. The preset hovering position is directly below the preset detection position, simplifying the flight path planning and navigation adjustment process of the slave aircraft. During the slave aircraft's ascent to the preset detection position, the vision module is activated to obtain a first distance between the mother aircraft and the slave aircraft. When the first distance is greater than a first preset distance, the vision module is deactivated, and the slave aircraft is controlled to fly autonomously to the preset detection position. First meteorological data is acquired based on a first meteorological device. Deactivating the vision module saves the slave aircraft's power, extending its flight time and enabling it to better perform upper-air meteorological detection tasks. Simultaneously, when the first distance is greater than the first preset distance, the mother aircraft is controlled to enter a preset detection route and fly along the route, acquiring second meteorological data at the target altitude based on a second meteorological acquisition device. Target meteorological data that is closer to the actual observed meteorological data is determined from the first and second meteorological data. The mother and daughter drones of this mother-daughter unmanned aerial vehicle (UAV) system cooperate in a dual-modal manner, employing hovering and flight paths, and using the same or different meteorological data acquisition equipment to acquire meteorological data at a target altitude. By comparing this data with actual meteorological observations, a low-cost, high-accuracy upper-air meteorological detection method is determined. Furthermore, the mother drone in this embodiment is a vertical take-off and landing (VTOL) fixed-wing meteorological UAV. VTOLs have high flight speeds and long endurance, enabling them to fly long distances along a flight path, thus covering a wide area. This allows the VTOL fixed-wing meteorological UAV to detect large meteorological areas and obtain the overall spatial distribution of meteorological elements. The daughter drone in this embodiment is a multi-rotor meteorological UAV. In hovering mode, the multi-rotor daughter drone can maintain a relatively stable position and attitude, reducing interference from flight motion and thus allowing for more accurate measurement of meteorological elements. Based on the characteristics of VTOL fixed-wing and multi-rotor drones, different flight modes are adapted for the mother and daughter drones, improving the accuracy of meteorological data. When the mother drone finishes its high-altitude meteorological reconnaissance mission, it first controls the mother drone and the slave drone to connect at a preset hovering position. When the fourth distance between the mother drone and the slave drone is less than a fourth preset distance, and the duration of this distance reaches a second preset duration, the connection between the slave drone and the mother drone is confirmed to be complete. The preset hovering position provides a clear and stable reference point for the connection, reducing the risk of connection failure due to uncertain position or unstable flight status, ensuring accurate and reliable docking of the mother drone and the slave drone to form a stable overall structure. After connection, the mother drone is controlled to return the entire mother-daughter UAV to the ground, simplifying the operation process, reducing coordination problems that may arise from separately controlling the mother drone and the slave drone, and improving the efficiency and accuracy of the return process.

[0049] based on Figure 1 The system architecture diagram will be presented below, in conjunction with... Figure 8 This application provides a detailed description of the data comparison device provided in its embodiments. It should be noted that... Figure 8 The data comparison device in the present application is used to perform the data comparison. Figures 2-7 The methods shown in the embodiments are for illustrative purposes only, illustrating the parts relevant to the embodiments of this application. For specific technical details not disclosed, please refer to this application. Figures 2-7 The example shown.

[0050] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of a data comparison device provided in an embodiment of this application. Figure 8 As shown, the data comparison device 1 in this application embodiment may include: a slave control unit 11, a master control unit 12, and a data comparison unit 13.

[0051] The slave unit control unit 11 is used to control the slave unit to fly to a preset detection position at the target altitude and hover at the preset detection position in order to acquire the first meteorological data at the target altitude based on the first meteorological acquisition device; The mother machine control unit 12 is used to control the mother machine to enter the preset detection route at the target altitude when the first distance between the daughter machine and the mother machine is greater than the first preset distance, and fly along the preset detection route to obtain the second meteorological data at the target altitude based on the second meteorological acquisition device. The first meteorological acquisition device and the second meteorological acquisition device may be the same or different. The data comparison unit 13 is used to compare the first meteorological data and the second meteorological data with the third meteorological data respectively, and to determine the target meteorological data that is closer to the third meteorological data among the first meteorological data and the second meteorological data. The third meteorological data is the actual observed meteorological data at the target altitude.

[0052] Optionally, the data comparison device 1 is specifically used to control the mother-daughter UAV to fly to a preset hovering position and then disconnect the connection between the mother UAV and the daughter UAV. The preset hovering position is located directly below the preset detection position, and the second distance between the preset hovering position and the preset detection position is a second preset distance.

[0053] Optionally, the slave unit is equipped with a pump control module, an air guide tube, and a suction cup. The suction cup is used to connect the slave unit and the mother unit. The data comparison device 1 is specifically used to control the mother-daughter UAV to fly to the preset hovering position, and then start the motor of the slave unit to inject air into the air guide tube based on the motor control pump control module, so as to separate the suction cup from the mother unit.

[0054] Optionally, the slave unit includes a vision module, which includes a laser ranging device. The slave unit control unit 11 is specifically used to control the slave unit to fly to a preset detection position at the target height when the master unit and the slave unit are disconnected, and to activate the vision module to obtain the first distance between the master unit and the slave unit based on the laser ranging device. When the first distance is greater than the first preset distance, the vision module is turned off, and the submachine is controlled to fly to the preset detection position; When the sub-unit reaches the preset detection position, the control sub-unit is kept hovering at the preset detection position to obtain the first meteorological data at the target altitude based on the first meteorological acquisition equipment.

[0055] Optionally, the data comparison device 1 is specifically used to control the mother aircraft to return to the preset hovering position and maintain hovering at the preset hovering position when the mother aircraft flies along the preset detection route for a first preset duration or flies along the preset detection route for a preset number of times. When the mother machine reaches the preset hovering position, the slave machine is controlled to return to the preset hovering position; Control the connection between the slave unit and the master unit at the preset hover position.

[0056] Optionally, the data comparison device 1 is specifically used to activate the vision module of the slave machine when the master machine reaches the preset hovering position; The vision module controls the submachine to return to the preset hover position.

[0057] Optionally, the data comparison device 1 is specifically used to obtain the third distance between the slave unit and the master unit; When the third distance is less than the third preset distance, the control pump module draws air through the air pipe so that the suction cup is attached to the positioning and bearing platform of the mother machine. Obtain the fourth distance between the slave unit and the master unit; When the fourth distance is less than the fourth preset distance, and the duration of the fourth distance being less than the fourth preset distance reaches the second preset duration, the connection between the slave unit and the master unit is confirmed to be complete, and the pump control module is controlled to stop air intake, and the fourth preset distance is less than the third preset distance.

[0058] In this embodiment, the connection between the mother aircraft and the slave aircraft is disconnected at a preset hovering position, and the slave aircraft is controlled to fly towards a preset detection position. The preset hovering position is directly below the preset detection position, simplifying the flight path planning and navigation adjustment process of the slave aircraft. During the slave aircraft's ascent to the preset detection position, the vision module is activated to obtain a first distance between the mother aircraft and the slave aircraft. When the first distance is greater than a first preset distance, the vision module is deactivated, and the slave aircraft is controlled to fly autonomously to the preset detection position. First meteorological data is acquired based on a first meteorological device. Deactivating the vision module saves the slave aircraft's power, extending its flight time and enabling it to better perform upper-air meteorological detection tasks. Simultaneously, when the first distance is greater than the first preset distance, the mother aircraft is controlled to enter a preset detection route and fly along the route, acquiring second meteorological data at the target altitude based on a second meteorological acquisition device. Target meteorological data that is closer to the actual observed meteorological data is determined from the first and second meteorological data. The mother and daughter drones of this mother-daughter unmanned aerial vehicle (UAV) system cooperate in a dual-modal manner, employing hovering and flight paths, and using the same or different meteorological data acquisition equipment to acquire meteorological data at a target altitude. By comparing this data with actual meteorological observations, a low-cost, high-accuracy upper-air meteorological detection method is determined. Furthermore, the mother drone in this embodiment is a vertical take-off and landing (VTOL) fixed-wing meteorological UAV. VTOLs have high flight speeds and long endurance, enabling them to fly long distances along a flight path, thus covering a wide area. This allows the VTOL fixed-wing meteorological UAV to detect large meteorological areas and obtain the overall spatial distribution of meteorological elements. The daughter drone in this embodiment is a multi-rotor meteorological UAV. In hovering mode, the multi-rotor daughter drone can maintain a relatively stable position and attitude, reducing interference from flight motion and thus allowing for more accurate measurement of meteorological elements. Based on the characteristics of VTOL fixed-wing and multi-rotor drones, different flight modes are adapted for the mother and daughter drones, improving the accuracy of meteorological data. When the mother drone finishes its high-altitude meteorological reconnaissance mission, it first controls the mother drone and the slave drone to connect at a preset hovering position. When the fourth distance between the mother drone and the slave drone is less than a fourth preset distance, and the duration of this distance reaches a second preset duration, the connection between the slave drone and the mother drone is confirmed to be complete. The preset hovering position provides a clear and stable reference point for the connection, reducing the risk of connection failure due to uncertain position or unstable flight status, ensuring accurate and reliable docking of the mother drone and the slave drone to form a stable overall structure. After connection, the mother drone is controlled to return the entire mother-daughter UAV to the ground, simplifying the operation process, reducing coordination problems that may arise from separately controlling the mother drone and the slave drone, and improving the efficiency and accuracy of the return process.

[0059] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application.

[0060] For example, such as Figure 9 As shown, the terminal device 900 includes a processor 901 and a memory 902, wherein the processor 901 and the memory 902 are electrically connected.

[0061] The processor 901 is the control center of the terminal device 900 and may include one or more processing cores. The processor 901 connects to various parts of the terminal device using various interfaces and lines. By running or calling computer programs stored in the memory 902, and by calling data stored in the memory 902, it executes various functions of the terminal device and processes data, thereby providing overall control of the terminal device 900. Optionally, the processor 901 may be implemented using at least one of the following hardware forms: Digital Signal Processing (DSP), Field Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 901 may integrate one or more of the following: CPU, Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user page, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 901 and may be implemented separately using a communication chip.

[0062] The memory 902 can be used to store software programs and modules. The processor 901 executes various functional applications and data processing by running the computer programs and modules stored in the memory 902. The memory 902 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function, etc.; the data storage area may store data created based on the use of the terminal device 900, etc.

[0063] Furthermore, memory 902 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state memory device. Accordingly, memory 902 may also include a memory controller to provide processor 901 with access to memory 902.

[0064] In this embodiment, the processor 901 in the terminal device 900 loads the instructions corresponding to the processes of one or more computer programs into the memory 902 according to the following steps, and the processor 901 runs the computer programs stored in the memory 902 to realize various functions, as follows: The control unit flies to a preset detection position at the target altitude and hovers at the preset detection position to acquire the first meteorological data at the target altitude based on the first meteorological acquisition equipment; When the first distance between the slave unit and the mother unit is greater than the first preset distance, the mother unit is controlled to enter the preset detection route at the target altitude and fly along the preset detection route to obtain the second meteorological data at the target altitude based on the second meteorological acquisition equipment. The first meteorological acquisition equipment and the second meteorological acquisition equipment may be the same or different. The first and second meteorological data are compared with the third meteorological data to determine the target meteorological data that is closer to the third meteorological data among the first and second meteorological data. The third meteorological data is the actual observed meteorological data at the target altitude.

[0065] Optionally, before executing the command to control the slave unit to fly to the preset detection position at the target altitude and hover at the preset detection position to acquire the first meteorological data at the target altitude based on the first meteorological acquisition device, the processor 901 also executes: After controlling the mother-daughter UAV to fly to the preset hovering position, disconnect the connection between the mother UAV and the daughter UAV. The preset hovering position is located directly below the preset detection position, and the second distance between the preset hovering position and the preset detection position is the second preset distance.

[0066] Optionally, the slave unit is equipped with a pump control module, an air duct, and a suction cup. The suction cup is used to connect the slave unit to the mother unit. When the processor 901 controls the mother-daughter UAV to fly to the preset hovering position and then disconnects the connection between the mother unit and the slave unit, it specifically executes the following: After controlling the mother-daughter drone to fly to the preset hovering position, start the motor of the daughter drone to inject air into the air pipe based on the motor control pump control module, so that the suction cup separates from the mother drone.

[0067] Optionally, the slave unit includes a vision module, which includes a laser rangefinder. When the processor 901 controls the slave unit to fly to a preset detection position at the target altitude and hovers at the preset detection position to acquire the first meteorological data at the target altitude based on the first meteorological data acquisition device, it specifically executes the following: When the mother unit and the daughter unit are disconnected, the daughter unit is controlled to fly to the preset detection position at the target altitude and the vision module is activated to obtain the first distance between the mother unit and the daughter unit based on the laser ranging device. When the first distance is greater than the first preset distance, the vision module is turned off, and the submachine is controlled to fly to the preset detection position; When the sub-unit reaches the preset detection position, the control sub-unit is kept hovering at the preset detection position to obtain the first meteorological data at the target altitude based on the first meteorological acquisition equipment.

[0068] Optionally, after executing the command that when the first distance between the slave unit and the master unit is greater than a first preset distance, the processor 901 controls the master unit to enter a preset detection route at the target altitude and fly along the preset detection route to acquire second meteorological data at the target altitude based on the second meteorological acquisition equipment, the processor 901 further executes: When the mother aircraft flies along the preset detection route for a first preset time, or when the mother aircraft flies along the preset detection route for a preset number of times, control the mother aircraft to return to the preset hovering position and maintain hovering at the preset hovering position; When the mother machine reaches the preset hovering position, the slave machine is controlled to return to the preset hovering position; Control the connection between the slave unit and the master unit at the preset hover position.

[0069] Optionally, when the processor 901 controls the slave machine to return to the preset hovering position after the master machine reaches the preset hovering position, it specifically executes the following: When the mother machine reaches the preset hovering position, the vision module of the daughter machine is activated; The vision module controls the submachine to return to the preset hover position.

[0070] Optionally, when the processor 901 controls the connection between the slave unit and the master unit at the preset hover position, it specifically performs the following: Obtain the third distance between the slave unit and the master unit; When the third distance is less than the third preset distance, the control pump module draws air through the air pipe so that the suction cup is attached to the positioning and bearing platform of the mother machine. Obtain the fourth distance between the slave unit and the master unit; When the fourth distance is less than the fourth preset distance, and the duration of the fourth distance being less than the fourth preset distance reaches the second preset duration, the connection between the slave unit and the master unit is confirmed to be complete, and the pump control module is controlled to stop air intake, and the fourth preset distance is less than the third preset distance.

[0071] In this embodiment, the connection between the mother aircraft and the slave aircraft is disconnected at a preset hovering position, and the slave aircraft is controlled to fly towards a preset detection position. The preset hovering position is directly below the preset detection position, simplifying the flight path planning and navigation adjustment process of the slave aircraft. During the slave aircraft's ascent to the preset detection position, the vision module is activated to obtain a first distance between the mother aircraft and the slave aircraft. When the first distance is greater than a first preset distance, the vision module is deactivated, and the slave aircraft is controlled to fly autonomously to the preset detection position. First meteorological data is acquired based on a first meteorological device. Deactivating the vision module saves the slave aircraft's power, extending its flight time and enabling it to better perform upper-air meteorological detection tasks. Simultaneously, when the first distance is greater than the first preset distance, the mother aircraft is controlled to enter a preset detection route and fly along the route, acquiring second meteorological data at the target altitude based on a second meteorological acquisition device. Target meteorological data that is closer to the actual observed meteorological data is determined from the first and second meteorological data. The mother and daughter drones of this mother-daughter unmanned aerial vehicle (UAV) system cooperate in a dual-modal manner, employing hovering and flight paths, and using the same or different meteorological data acquisition equipment to acquire meteorological data at a target altitude. By comparing this data with actual meteorological observations, a low-cost, high-accuracy upper-air meteorological detection method is determined. Furthermore, the mother drone in this embodiment is a vertical take-off and landing (VTOL) fixed-wing meteorological UAV. VTOLs have high flight speeds and long endurance, enabling them to fly long distances along a flight path, thus covering a wide area. This allows the VTOL fixed-wing meteorological UAV to detect large meteorological areas and obtain the overall spatial distribution of meteorological elements. The daughter drone in this embodiment is a multi-rotor meteorological UAV. In hovering mode, the multi-rotor daughter drone can maintain a relatively stable position and attitude, reducing interference from flight motion and thus allowing for more accurate measurement of meteorological elements. Based on the characteristics of VTOL fixed-wing and multi-rotor drones, different flight modes are adapted for the mother and daughter drones, improving the accuracy of meteorological data. When the mother drone finishes its high-altitude meteorological reconnaissance mission, it first controls the mother drone and the slave drone to connect at a preset hovering position. When the fourth distance between the mother drone and the slave drone is less than a fourth preset distance, and the duration of this distance reaches a second preset duration, the connection between the slave drone and the mother drone is confirmed to be complete. The preset hovering position provides a clear and stable reference point for the connection, reducing the risk of connection failure due to uncertain position or unstable flight status, ensuring accurate and reliable docking of the mother drone and the slave drone to form a stable overall structure. After connection, the mother drone is controlled to return the entire mother-daughter UAV to the ground, simplifying the operation process, reducing coordination problems that may arise from separately controlling the mother drone and the slave drone, and improving the efficiency and accuracy of the return process.

[0072] It should be understood that the apparatus provided in this application embodiment is used to perform the above-described data comparison method, and therefore can achieve the same effect as the above-described implementation method.

[0073] When using integrated units, the device may include a processing module and a storage module. When applied to a terminal device, the processing module can be used to control and manage the actions of the terminal device. The storage module can be used to support the execution of relevant program code by the terminal device.

[0074] The processing module may be a processor or a controller, which can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0075] In addition, the device provided in this application embodiment may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a data comparison method provided in the above embodiment.

[0076] This application also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the aforementioned method steps to implement the data comparison method provided in the above embodiments.

[0077] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a data comparison method provided in the above embodiment.

[0078] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0079] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual 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.

[0080] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0081] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A data comparison method, characterized in that, The method is applied to a terminal device for controlling a mother-daughter unmanned aerial vehicle (UAV), the mother UAV comprising a mother unit and a daughter unit, the daughter unit being equipped with a first meteorological data acquisition device, and the mother unit being equipped with a second meteorological data acquisition device. The submachine is controlled to fly to a preset detection position at the target altitude and hover at the preset detection position to acquire first meteorological data at the target altitude based on the first meteorological acquisition device; When the first distance between the slave unit and the mother unit is greater than the first preset distance, the mother unit is controlled to enter the preset detection route at the target altitude and fly along the preset detection route to obtain the second meteorological data at the target altitude based on the second meteorological acquisition device. The first meteorological acquisition device and the second meteorological acquisition device may be the same or different. The first meteorological data and the second meteorological data are compared with the third meteorological data respectively to determine the target meteorological data that is closer to the third meteorological data among the first meteorological data and the second meteorological data. The third meteorological data is the actual observed meteorological data at the target altitude.

2. The method according to claim 1, characterized in that, Before controlling the submachine to fly to a preset detection position at the target altitude and hover at the preset detection position to acquire first meteorological data at the target altitude based on the first meteorological acquisition device, the method further includes: After controlling the mother-daughter UAV to fly to the preset hovering position, disconnect the connection between the mother UAV and the daughter UAV. The preset hovering position is located directly below the preset detection position, and the second distance between the preset hovering position and the preset detection position is the second preset distance.

3. The method according to claim 1, characterized in that, The slave unit is equipped with a pump control module, an air duct, and a suction cup. The suction cup is used to connect the slave unit to the mother unit. After controlling the mother-daughter UAV to fly to a preset hovering position, disconnecting the mother unit from the slave unit includes: After controlling the mother-daughter UAV to fly to the preset hovering position, the motor of the daughter unit is started, and the pump control module is controlled by the motor to inject air into the air duct, so that the suction cup is separated from the mother unit.

4. The method according to claim 3, characterized in that, The sub-machine includes a vision module, which includes a laser rangefinder. Controlling the sub-machine to fly to a preset detection position at the target altitude and hovering at that position to acquire first meteorological data at the target altitude based on the first meteorological data acquisition device includes: When the mother machine is disconnected from the daughter machine, the daughter machine is controlled to fly to a preset detection position at the target altitude, and the vision module is activated to obtain the first distance between the mother machine and the daughter machine based on the laser ranging device; When the first distance is greater than the first preset distance, the vision module is turned off, and the submachine is controlled to fly to the preset detection position; When the submachine reaches the preset detection position, it is controlled to hover at the preset detection position to acquire the first meteorological data at the target altitude based on the first meteorological acquisition device.

5. The method according to claim 4, characterized in that, When the first distance between the slave unit and the mother unit is greater than a first preset distance, the mother unit is controlled to enter a preset detection route at the target altitude and fly along the preset detection route to acquire second meteorological data at the target altitude based on the second meteorological acquisition device. This process further includes: When the mother aircraft flies along the preset detection route for a first preset time, or when the mother aircraft flies along the preset detection route for a preset number of times, the mother aircraft is controlled to return to the preset hovering position and remain hovering at the preset hovering position; When the mother machine reaches the preset hovering position, the daughter machine is controlled to return to the preset hovering position; The slave unit is controlled to connect to the master unit at the preset hover position.

6. The method according to claim 5, characterized in that, When the mother machine reaches the preset hovering position, controlling the daughter machine to return to the preset hovering position includes: When the mother machine reaches the preset hovering position, the vision module of the daughter machine is activated; The vision module controls the submachine to return to the preset hovering position.

7. The method according to claim 5, characterized in that, The step of controlling the connection between the slave unit and the master unit at the preset hovering position includes: Obtain the third distance between the slave machine and the mother machine; When the third distance is less than the third preset distance, the pump control module is controlled to draw air through the air guide pipe so that the suction cup is adsorbed onto the positioning and bearing platform of the mother machine; Obtain the fourth distance between the slave unit and the mother unit; When the fourth distance is less than the fourth preset distance, and the duration of the fourth distance being less than the fourth preset distance reaches the second preset duration, the connection between the slave unit and the master unit is determined to be completed, and the pump control module is controlled to stop sucking air, and the fourth preset distance is less than the third preset distance.

8. A data comparison device, characterized in that, The device includes: The sub-unit control unit is used to control the sub-unit to fly to a preset detection position at the target altitude and hover at the preset detection position to acquire first meteorological data at the target altitude based on the first meteorological acquisition device; The mother machine control unit is used to control the mother machine to enter a preset detection route at the target altitude when the first distance between the daughter machine and the mother machine is greater than a first preset distance, and to fly along the preset detection route to obtain second meteorological data at the target altitude based on the second meteorological acquisition device, wherein the first meteorological acquisition device and the second meteorological acquisition device may be the same or different. The data comparison unit is used to compare the first meteorological data and the second meteorological data with the third meteorological data respectively, and to determine the target meteorological data that is closer to the third meteorological data among the first meteorological data and the second meteorological data, wherein the third meteorological data is the actual observed meteorological data at the target altitude.

9. A terminal device, characterized in that, The terminal device includes: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the terminal device to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program code that, when executed, implements the method as described in any one of claims 1 to 7.

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