CN111966126A - Unmanned aerial vehicle patrol method and device and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle patrol method and device and unmanned aerial vehicle Download PDFInfo
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Abstract
The application provides a patrol method and device for an unmanned aerial vehicle and the unmanned aerial vehicle, and relates to the technical field of safety prevention and control. The method comprises the following steps: determining whether a foreign person intrudes into a patrol area of the unmanned aerial vehicle; if the position information exists, acquiring the position information of the external personnel; and tracking the external person according to the position information of the external person. Therefore, the consumption of manpower and material resources can be effectively reduced, and the patrol efficiency is improved.
Description
Technical Field
The application relates to the technical field of safety prevention and control, in particular to an unmanned aerial vehicle patrol method and device and an unmanned aerial vehicle.
Background
At present, cameras are generally installed and fixed in specific places such as construction sites, specific workplaces, factories and the like, and monitoring is carried out manually to prevent strangers from entering the specific places. And ground prevention and control mainly adopts the mode of manual patrol, and this kind of mode is not only inefficient, and also consumes a large amount of manpower and materials.
Disclosure of Invention
An object of the embodiment of the application is to provide a patrol method and device for an unmanned aerial vehicle and the unmanned aerial vehicle, which are used for solving the problems that in the prior art, safety prevention and control are performed through manual patrol, the efficiency is low, and consumption of manpower and material resources is large.
In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle patrol method, where the method includes:
determining whether a foreign person intrudes into a patrol area of the unmanned aerial vehicle;
if the position information exists, acquiring the position information of the external personnel;
and tracking the external person according to the position information of the external person.
In the implementation process, the patrol area is patrolled through the unmanned aerial vehicle, the external personnel in the patrol area are identified, and the external personnel are automatically tracked, so that the consumption of manpower and material resources can be effectively reduced, and the patrol efficiency is improved.
Optionally, the determining whether there is a break-in of a foreign person in a patrol area of the unmanned aerial vehicle includes:
acquiring a personnel image in the patrol area shot by the unmanned aerial vehicle;
comparing the personnel image with a preset personnel image in a pre-stored image library;
and if the comparison result is that no preset personnel image matched with the personnel image exists in the image library, determining that the patrol area has the intrusion of the external personnel.
In the implementation process, the accuracy of identifying the external personnel can be improved by comparing the images.
Optionally, the determining whether there is a break-in of a foreign person in a patrol area of the unmanned aerial vehicle includes:
acquiring a personnel image in the patrol area shot by the unmanned aerial vehicle;
identifying whether a person in the person image wears an identity identification card;
and if the fact that the personnel wear the identity identification card is not recognized, determining that the patrol area is invaded by the external personnel.
In the implementation process, the identification of the foreign person can be quickly realized by identifying whether the identification card is worn by the identification person.
Optionally, the method further comprises:
detecting whether an obstacle exists in front of a flight based on the 3D model of the patrol area and an omnidirectional vision system in the process that the unmanned aerial vehicle tracks the foreign person;
and if so, carrying out obstacle avoidance processing.
In the implementation process, the omnidirectional vision system based on the 3D model and the unmanned aerial vehicle can detect the obstacle more accurately so as to realize accurate obstacle avoidance.
Optionally, before determining whether there is a break-in of a foreign person in the patrol area of the unmanned aerial vehicle, the method further includes:
determining a patrol route of the unmanned aerial vehicle in the patrol area;
and patrolling the patrol area according to the patrol route.
In the implementation process, the patrol area is patrolled through the unmanned aerial vehicle, and the patrol efficiency can be improved.
Optionally, after the tracking the alien people according to the location information of the alien people, the method further includes:
when the electric quantity of the unmanned aerial vehicle is determined to be lower than a preset value, determining the position of a charging pile, and moving to the position of the charging pile for charging;
and outputting prompt information, wherein the prompt information is used for prompting the background control terminal to schedule another unmanned aerial vehicle to continue tracking the foreign personnel.
In the implementation process, when the electric quantity of the unmanned aerial vehicle is low, another unmanned aerial vehicle is scheduled to continue to track the external personnel, and therefore seamless butt joint of tracking can be achieved.
Optionally, the method further comprises:
detecting whether gas abnormality exists in the patrol area through a gas sensor;
and if so, outputting alarm information.
In the implementation process, the abnormity detection is carried out on the gas in the patrol area, so that the alarm information can be output when the gas is abnormal, the abnormity of the patrol area can be known in time, and the safety of the patrol area is ensured.
Optionally, unmanned aerial vehicle's fuselage surface is wrapped up with a rain-proof anticorrosion ventilated membrane to can ensure that unmanned aerial vehicle avoids the problem of self damage when special region patrols.
In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle patrol device, the device includes:
the personnel identification module is used for determining whether a foreign person intrudes into a patrol area of the unmanned aerial vehicle;
the position determining module is used for acquiring the position information of an external person if the external person intrudes into the patrol area;
and the tracking module is used for tracking the external personnel according to the position information of the external personnel.
Optionally, the personnel identification module is configured to acquire a personnel image in the patrol area captured by the unmanned aerial vehicle; comparing the personnel image with a preset personnel image in a pre-stored image library; and if the comparison result is that no preset personnel image matched with the personnel image exists in the image library, determining that the patrol area has the intrusion of the external personnel.
Optionally, the personnel identification module is configured to acquire a personnel image in the patrol area captured by the unmanned aerial vehicle; identifying whether a person in the person image wears an identity identification card; and if the fact that the personnel wear the identity identification card is not recognized, determining that the patrol area is invaded by the external personnel.
Optionally, the apparatus further comprises:
the obstacle avoidance module is used for detecting whether an obstacle exists in front of a flight or not based on the 3D model of the patrol area and the omnidirectional vision system in the process that the unmanned aerial vehicle tracks the foreign person; and if so, carrying out obstacle avoidance processing.
Optionally, the apparatus further comprises:
the patrol module is used for determining a patrol route of the unmanned aerial vehicle in the patrol area; and patrolling the patrol area according to the patrol route.
Optionally, the apparatus further comprises:
the electric quantity detection module is used for determining the position of a charging pile when the electric quantity of the unmanned aerial vehicle is lower than a preset value, and moving to the position of the charging pile for charging; and outputting prompt information, wherein the prompt information is used for prompting the background control terminal to schedule another unmanned aerial vehicle to continue tracking the foreign personnel.
Optionally, the apparatus further comprises:
the gas detection module is used for detecting whether gas abnormality exists in the patrol area through a gas sensor; and if so, outputting alarm information.
Optionally, the surface of the body of the unmanned aerial vehicle is wrapped with a rain-proof, anti-corrosion and breathable film.
In a third aspect, an embodiment of the present application provides a drone, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the drone performs the steps in the method as provided in the first aspect.
In a fourth aspect, embodiments of the present application provide a readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps in the method as provided in the first aspect.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a patrol method for an unmanned aerial vehicle according to an embodiment of the present disclosure;
fig. 2 is a block diagram of a structure of a patrol device for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle for executing a method for patrolling an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
The embodiment of the application provides an unmanned aerial vehicle patrol method, which can effectively reduce the consumption of manpower and material resources, improve the patrol efficiency and ensure the safety of a patrol area by identifying the foreign personnel in the patrol area and automatically tracking the foreign personnel.
The unmanned aerial vehicle patrol method provided by the application is described in detail below with reference to various figures.
Referring to fig. 1, fig. 1 is a flowchart of a patrol method for an unmanned aerial vehicle according to an embodiment of the present application, where the patrol method includes the following steps:
step S110: and determining whether a foreign person intrudes into the patrol area of the unmanned aerial vehicle.
In the embodiment of the application, in order to improve the patrol efficiency of areas such as factories, construction sites, specific workplaces and cells, the areas can be patrolled through the unmanned aerial vehicle, so that the manual patrol cost is reduced. The patrol area can be areas such as factories and construction sites, or specific areas in the areas, for example, a map can be stored on the unmanned aerial vehicle, and the patrol area needing to be patrolled can be marked on the map in advance, so that the unmanned aerial vehicle can patrol in the planned patrol area according to the map.
In a specific implementation process, the unmanned aerial vehicle can be in communication connection with the background control terminal, the background control terminal can plan a patrol route of the unmanned aerial vehicle according to the size of a patrol area, information such as positions needing to be patrolled and the like, and then sends the patrol route to the unmanned aerial vehicle, so that the unmanned aerial vehicle can obtain the patrol route in the patrol area, and then the patrol area can be patrolled according to the patrol route.
The unmanned aerial vehicle can shoot images of the patrol area in real time in the patrol process, information in the images is identified to identify whether a foreign person intrudes into the patrol area, and if the fact that the foreign person intrudes into the patrol area is determined, step S120 is executed.
Step S120: and acquiring the position information of the external person.
When the unmanned aerial vehicle determines that the patrol area has the intrusion of the external personnel, the position information of the external personnel can be acquired through the shot image, namely the unmanned aerial vehicle can adjust the flight attitude of the unmanned aerial vehicle in real time according to the position information of the external personnel in the image so as to realize the tracking of the external personnel.
In some embodiments, when the position information of the external person refers to position information of the external person in the image, the unmanned aerial vehicle may acquire the position information of the external person in the previous frame of image and the position information of the external person in the current frame of image, determine a position offset of the external person according to the two position information, and then adjust an attitude of the unmanned aerial vehicle according to the position offset, where if the position offset is too large, it may indicate that the movement speed of the external person is fast, and at this time, the flight speed of the unmanned aerial vehicle may be adjusted, so that a relatively stable distance is maintained between the unmanned aerial vehicle and the external person. Of course, in order to make it difficult for the alien personnel to find the drone, the distance between the drone and the alien personnel should not be too close.
Step S130: and tracking the external person according to the position information of the external person.
After the position information of the external personnel is obtained, the flight state of the unmanned aerial vehicle can be adjusted in real time so as to facilitate tracking of the external personnel. In addition, in order to ensure the accuracy of tracking the external personnel, the unmanned aerial vehicle can also track in combination with the human face characteristics of the external personnel during tracking, for example, the unmanned aerial vehicle takes the first frame image of the detected external personnel as the initial frame of tracking, a rectangular frame can be used for identifying the human face of the external personnel, and during subsequent tracking, the human face can be taken as the target of tracking and the state of the human face can be adjusted in real time in combination with the position of the external personnel, so that the tracking of the external personnel is realized. In addition, the tracking area of the unmanned aerial vehicle for the external personnel is in the patrol area, and if the external personnel walks out of the patrol area, the unmanned aerial vehicle finishes tracking the external personnel.
In addition, after the unmanned aerial vehicle recognizes the foreign personnel, the unmanned aerial vehicle can also output alarm sound through a voice alarm to drive the foreign personnel. Of course, the external person may be tracked without outputting the alarm sound first, and the image and the position information of the external person obtained in the tracking process may be sent to the background control terminal, and the background control terminal further identifies the external person.
In the implementation process, the patrol area is patrolled through the unmanned aerial vehicle, the external personnel in the patrol area are identified, and the external personnel are automatically tracked, so that the consumption of manpower and material resources can be effectively reduced, and the patrol efficiency is improved.
In some embodiments, whether a patrol area is intruded by a foreign person can be determined by the following method:
1. the method comprises the steps of obtaining personnel images in a patrol area shot by an unmanned aerial vehicle, comparing the personnel images with preset personnel images in a pre-stored image library, and determining that external personnel intrude into the patrol area if the comparison result is that the preset personnel images matched with the personnel images do not exist in the image library.
It can be understood that an image library may be stored in the unmanned aerial vehicle in advance, taking a factory as a patrol area as an example, the image library may include face images of various workers in the factory, where the face images of the various workers are preset personnel images. The unmanned aerial vehicle can shoot images of patrol areas in real time, when people exist in the images, the personnel images can be compared with each preset personnel image in the image library, the comparison mode can be that the similarity of the personnel areas in the two images is calculated (if the similarity comparison is carried out after the personnel areas in the images are divided), when the similarity is larger than or equal to a preset threshold value, the two images are considered to be matched in a consistent mode, and if the similarity is smaller than the preset threshold value, the two images are considered to be not matched in a consistent mode. If the preset personnel images are matched with the personnel images in a consistent mode, the personnel in the images are the workers in the patrol area and are not the external personnel, if the personnel images are not matched with any preset personnel images in a consistent mode, the personnel in the images are not the workers in the patrol area and are the external personnel, and at the moment, the fact that the external personnel break into the patrol area is determined.
In the implementation process, the accuracy of identifying the external personnel can be improved by comparing the images.
2. The method comprises the steps of obtaining images of personnel in a patrol area shot by an unmanned aerial vehicle, identifying whether the personnel in the images of the personnel wear an identity identification card or not, and determining that external personnel break into the patrol area if the personnel are not identified to wear the identity identification card.
For example, when the unmanned aerial vehicle recognizes that a person exists in the photographed image, the unmanned aerial vehicle recognizes whether the person in the image wears the identification card, and the specific recognition mode may also be that image information of the identification card is stored in the unmanned aerial vehicle in advance, and by comparing the stored image of the identification card with the image, when the similarity is greater than a threshold value, it is determined that the person wears the identification card, and if the similarity is less than the threshold value, it is determined that the person does not wear the identification card. Or, if the identification card contains a one-dimensional code or a two-dimensional code image and the like, the personnel image collected by the unmanned aerial vehicle can be scanned, whether the personnel image contains the one-dimensional code or the two-dimensional code image is identified through scanning, if so, the personnel is determined to wear the identification card, and if not, the personnel is determined not to wear the identification card.
However, in order to avoid counterfeiting the identification card by a foreign person, the identity information of the staff can be carried in the one-dimensional code or the two-dimensional code image in the identification card, so that when the image of the staff contains the one-dimensional code or the two-dimensional code image, the one-dimensional code or the two-dimensional code can be scanned to obtain the carried information, whether the staff is the staff in the factory or not can be judged through the information, and whether the staff is the foreign person or not can be determined more accurately.
Or, when the identification card is electronic tags, the unmanned aerial vehicle can be provided with a tag reader-writer, after people's images are shot, the electronic tags on the people can be read through the tag reader-writer, if the reading fails, the people are indicated to be not wearing the electronic tags, the people are indicated to be foreign people, and if the reading succeeds, the people are indicated to be not foreign people. In the mode, the unmanned aerial vehicle combines the radio frequency technology, the personnel in the patrol area wear the identification card of the electronic tag, and the unmanned aerial vehicle can scan and read the electronic tag on the body of the identified personnel in the patrol process, so that whether the personnel are foreign personnel or not can be identified.
It should be noted that, the above-mentioned manner of identifying whether there is a person in the image may be implemented by using a neural network model, for example, whether there is person feature information in the image is identified by using the neural network model, if there is person feature information in the image, the image is determined to be a person image, and a specific identification process thereof may refer to an implementation process in the prior art, which is not described herein too much.
In addition, the unmanned aerial vehicle can be equipped with a thermal imaging system, the thermal imaging system can include an infrared detection sensor and a visible light sensor, the infrared detection sensor can be used for carrying out image shooting when there is no visible light, the visible light sensor can be used for carrying out image shooting when there is visible light, the thermal imaging system can enable the unmanned aerial vehicle to carry out real-time detection and shooting work under the condition of no visible light, and can switch between the visible light sensor and the infrared detection sensor so as to ensure that images can be shot clearly when there is no visible light.
In the implementation process, the identification of the foreign person can be quickly realized by identifying whether the identification card is worn by the identification person.
In some embodiments, in order to further ensure the safety of the patrol area, the actions of the foreign persons may be identified during the process of tracking the foreign persons by the unmanned aerial vehicle, that is, illegal actions of the foreign persons are identified. Because the unmanned aerial vehicle is provided with various cameras such as a binocular camera and an omnidirectional camera, the unmanned aerial vehicle can clearly shoot images of external people, then the actions of the external people in the images are identified, the identification process can be identified by adopting a neural network model, the neural network model can be a convolutional neural network model, a cyclic neural network model and other models, the specific identification process is not repeated, and the technical personnel in the field can refer to the related implementation process in the prior art.
After the action of the external person is identified, whether the action is illegal action can be judged, if the unmanned aerial vehicle can store information such as correct action gesture or illegal action gesture in advance, the action of the external person can be compared with the information such as the stored correct action gesture or illegal action gesture, if the action of the external person is matched with the correct action gesture or the action of the external person is not matched with the illegal action gesture, the external person is considered to have no illegal action, and at the moment, the unmanned aerial vehicle can continuously track the external person; if the action of the external person is not matched with the correct action posture or the action of the external person is matched with the illegal action posture, the external person is considered to have illegal action, at the moment, the unmanned aerial vehicle can output alarm information, such as alarm sound, or output prompt information to the background control terminal so as to prompt background workers to notice that the external person breaks into the patrol area and has illegal action.
In some other embodiments, if the unmanned aerial vehicle cannot identify the face area in the image, if a person in the image wears a mask or a hat, the person is also considered as a foreign person, and at this time, the unmanned aerial vehicle may also output prompt information to the background control terminal, or output alarm information, and the like.
In some embodiments, in order to avoid the problem that the unmanned aerial vehicle cannot continue to patrol due to damage of the unmanned aerial vehicle caused by collision with a barrier in the patrol process, the unmanned aerial vehicle can be further provided with an obstacle avoidance module, the obstacle avoidance module can be used for avoiding obstacle processing of the unmanned aerial vehicle in the patrol process, if the unmanned aerial vehicle tracks foreign people, whether the obstacle exists in front of the flight of the unmanned aerial vehicle is detected based on a 3D model of a patrol area and an omnidirectional vision system, and if the obstacle exists, the obstacle avoidance processing is carried out.
Before flying, the unmanned aerial vehicle can be manually controlled to acquire scene videos in a required patrol range by using a high-definition camera of the unmanned aerial vehicle, if a specific flying starting point is taken as a coordinate origin at each time, a set route is installed to control the unmanned aerial vehicle to fly so as to acquire video images in a flight route, and then the acquired video images can be input into 3D model software, for example, the 3D model software is used for constructing a 3D model of a patrol area, the 3D model comprises fixed buildings in the patrol area, and the fixed buildings can be marked as obstacles.
In order to construct a more accurate 3D model, the continuity accuracy rate of the constructed 3D model can be checked by utilizing a VR technology, the 3D model is perfected by additionally shooting a video image, and the reliability of the 3D model is ensured.
After the constructed 3D model is obtained, the 3D model can be downloaded to an unmanned aerial vehicle system, so that the unmanned aerial vehicle can comprehensively estimate the current coordinates and the surrounding environment of the positioned barrier in real time by combining GPS positioning and an omnidirectional vision system (such as sensors of 12 visual binocular eyes, infrared millimeter waves and the like above and below the unmanned aerial vehicle) in the flying process, and the effect of accurately bypassing the barrier is realized.
Wherein, because unmanned aerial vehicle is when the flight, all can receive different interference many times, for example, GPS fixes a position the mistake, the wall does not have the texture etc. and this moment some sensors will inevitable abnormal data that appears, if only GPS fixes a position data or single vision sensor, unmanned aerial vehicle just can consequently and the condition of flying in disorder, even explode the machine. Therefore, can set up the omnidirectional vision system on unmanned aerial vehicle, under the omnidirectional vision system, even there is the unable normal work of partial sensor, unmanned aerial vehicle relies on the assistance of the vision sensor of other directions, still can realize stably hovering, and more environmental information can be collected to the sensor of multi-angle, then compares and verifies different data, just can filter more reliable data to realize more stable flight.
In the implementation process, the omnidirectional vision system based on the 3D model and the unmanned aerial vehicle can detect the obstacle more accurately so as to realize accurate obstacle avoidance.
In some embodiments, unmanned aerial vehicle is at the in-process that patrols the process or trails the extraneous personnel, if when confirming that unmanned aerial vehicle's electric quantity is less than the default, can confirm earlier and fill the position that electric pile belongs to go to and fill the position that electric pile belongs to and charge, then output prompt message, this prompt message is used for the suggestion backstage control terminal to schedule another unmanned aerial vehicle and continue to trail the extraneous personnel.
For example, unmanned aerial vehicle can detect the electric quantity condition of self in real time, and its default can be according to the nimble setting of actual demand, if can be when the electric quantity is less than 20 percent, unmanned aerial vehicle seeks the position that fills electric pile place, can store in the unmanned aerial vehicle and respectively fill the position that electric pile place, and unmanned aerial vehicle can be based on the nearest electric pile that fills of current position determination distance, then goes to the nearest position that fills electric pile place and charge.
In order to carry out all-dimensional patrol on the patrol area, a plurality of unmanned aerial vehicles can be adopted for patrol, so that after the background control terminal receives the prompt information, other unmanned aerial vehicles in the patrol area can be scheduled to continue to track the external personnel, and the other unmanned aerial vehicles can refer to unmanned aerial vehicles which are not currently tracked by personnel in the patrol area, namely the unmanned aerial vehicles which only have patrol tasks currently.
But in order to realize the seamless tracking to exotic personnel, unmanned aerial vehicle can export prompt message to backstage control terminal earlier when detecting that the electric quantity is less than the default, then waits for backstage control terminal to schedule other unmanned aerial vehicles and arrive this unmanned aerial vehicle's current position after, this unmanned aerial vehicle just goes to fill electric pile and charges. The background control terminal dispatches another unmanned aerial vehicle to go to the position where the current tracked unmanned aerial vehicle is located, the other unmanned aerial vehicle sends prompt information to the background control terminal after arriving at the position, and the background control terminal dispatches the current tracked unmanned aerial vehicle to go to the charging pile for charging after receiving the prompt information.
Of course, when the currently tracked unmanned aerial vehicle cannot continue to track the foreign people due to other situations, if the currently tracked unmanned aerial vehicle detects that other devices are damaged, the background control terminal can also schedule another unmanned aerial vehicle to continue to track the foreign people.
In some embodiments, in order to realize the safety patrol of the unmanned aerial vehicle on a special area, the unmanned aerial vehicle may further detect whether a gas anomaly exists in the patrol area through a gas sensor, and if the gas anomaly exists, output alarm information.
At concrete realization in-process, can install a plurality of gas sensor on the unmanned aerial vehicle for detect different gases, like carbon dioxide, sulfur dioxide, formaldehyde, nitrogen gas, chlorine, corrosive gas, salt fog etc.. Wherein, can select the installation of corresponding gas sensor according to different demand scenes.
When gas sensor detects that gas exists unusually, if gas concentration is greater than when presetting concentration, then indicate that gas exists unusually, under this kind of condition, unmanned aerial vehicle exports alarm information to backstage control terminal. And, unmanned aerial vehicle can also shoot the image transmission in current abnormal area and send background control terminal, perhaps, can also send current coordinate to background control terminal to supply the staff in time to take measures to handle the region that the abnormal conditions appears, thereby avoid the emergence of major accident.
In addition, still can be provided with other sensors on the unmanned aerial vehicle, like temperature and humidity sensor, dust sensor, noise sensor etc. so can carry out abnormal detection to different environment to ensure patrol regional safety.
In the implementation process, the abnormity detection is carried out on the gas in the patrol area, so that the alarm information can be output when the gas is abnormal, the abnormity of the patrol area can be known in time, and the safety of the patrol area is ensured.
In some embodiments, in order to meet the patrol requirement in a special environment, the fuselage of the unmanned aerial vehicle can be wrapped with a rainproof and anticorrosion breathable film, so that the problem that the unmanned aerial vehicle is damaged when patrolling in a special area can be solved.
Referring to fig. 2, fig. 2 is a block diagram of a patrol apparatus 100 for a drone, where the patrol apparatus 100 may be a module, a program segment, or code on a drone according to an embodiment of the present disclosure. It should be understood that the apparatus 100 corresponds to the above-mentioned embodiment of the method of fig. 1, and can perform various steps related to the embodiment of the method of fig. 1, and the specific functions of the apparatus 100 can be referred to the above description, and the detailed description is appropriately omitted here to avoid redundancy.
Optionally, the apparatus 100 comprises:
the personnel identification module 110 is used for determining whether a foreign person intrudes into a patrol area of the unmanned aerial vehicle;
a position determining module 120, configured to obtain position information of an external person if the external person intrudes into the patrol area;
a tracking module 130, configured to track the external person according to the location information of the external person.
Optionally, the personnel identification module 110 is configured to acquire an image of personnel in the patrol area captured by the unmanned aerial vehicle; comparing the personnel image with a preset personnel image in a pre-stored image library; and if the comparison result is that no preset personnel image matched with the personnel image exists in the image library, determining that the patrol area has the intrusion of the external personnel.
Optionally, the personnel identification module 110 is configured to acquire an image of personnel in the patrol area captured by the unmanned aerial vehicle; identifying whether a person in the person image wears an identity identification card; and if the fact that the personnel wear the identity identification card is not recognized, determining that the patrol area is invaded by the external personnel.
Optionally, the apparatus 100 further comprises:
the obstacle avoidance module is used for detecting whether an obstacle exists in front of a flight or not based on the 3D model of the patrol area and the omnidirectional vision system in the process that the unmanned aerial vehicle tracks the foreign person; and if so, carrying out obstacle avoidance processing.
Optionally, the apparatus 100 further comprises:
the patrol module is used for determining a patrol route of the unmanned aerial vehicle in the patrol area; and patrolling the patrol area according to the patrol route.
Optionally, the apparatus 100 further comprises:
the electric quantity detection module is used for determining the position of a charging pile when the electric quantity of the unmanned aerial vehicle is lower than a preset value, and moving to the position of the charging pile for charging; and outputting prompt information, wherein the prompt information is used for prompting the background control terminal to schedule another unmanned aerial vehicle to continue tracking the foreign personnel.
Optionally, the apparatus 100 further comprises:
the gas detection module is used for detecting whether gas abnormality exists in the patrol area through a gas sensor; and if so, outputting alarm information.
Optionally, the surface of the body of the unmanned aerial vehicle is wrapped with a rain-proof, anti-corrosion and breathable film.
It should be noted that, for the convenience and simplicity of description, the specific working processes of the system and the apparatus 100 described above may refer to the corresponding processes in the foregoing method embodiments, and the description is not repeated herein.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a drone for performing a patrol method for a drone according to an embodiment of the present disclosure, where the drone may include: at least one processor 210, such as a CPU, at least one communication interface 220, at least one memory 230, and at least one communication bus 240. Wherein the communication bus 240 is used for realizing direct connection communication of these components. In the embodiment of the present application, the communication interface 220 of the device is used for performing signaling or data communication with other node devices. Memory 230 may be a high-speed RAM memory or a non-volatile memory (e.g., at least one disk memory). Memory 230 may optionally be at least one memory device located remotely from the aforementioned processor. The memory 230 stores computer readable instructions that, when executed by the processor 210, cause the drone to perform the method processes described above with reference to fig. 1.
It will be appreciated that the configuration shown in figure 3 is merely illustrative and that the drone may also include more or fewer components than shown in figure 3 or have a different configuration than shown in figure 3, such as a fuselage, wings, etc. The components shown in fig. 3 may be implemented in hardware, software, or a combination thereof.
The embodiment of the present application provides a readable storage medium, and when being executed by a processor, the computer program performs the method process performed by the drone in the method embodiment shown in fig. 1.
The present embodiments disclose a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the methods provided by the above-described method embodiments, for example, comprising: determining whether a foreign person intrudes into a patrol area of the unmanned aerial vehicle; if the position information exists, acquiring the position information of the external personnel; and tracking the external person according to the position information of the external person.
In summary, the embodiment of the application provides a method and a device for patrolling an unmanned aerial vehicle and the unmanned aerial vehicle, the patrolling area is patrolled by the unmanned aerial vehicle, foreign persons in the patrolling area are identified, and the foreign persons are automatically tracked, so that consumption of manpower and material resources can be effectively reduced, and the patrolling efficiency is improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A patrol method for an unmanned aerial vehicle, which is characterized by comprising the following steps:
determining whether a foreign person intrudes into a patrol area of the unmanned aerial vehicle;
if the position information exists, acquiring the position information of the external personnel;
and tracking the external person according to the position information of the external person.
2. The method of claim 1, wherein determining whether there is intrusion of a foreign person in the patrol area of the drone comprises:
acquiring a personnel image in the patrol area shot by the unmanned aerial vehicle;
comparing the personnel image with a preset personnel image in a pre-stored image library;
and if the comparison result is that no preset personnel image matched with the personnel image exists in the image library, determining that the patrol area has the intrusion of the external personnel.
3. The method of claim 1, wherein determining whether there is intrusion of a foreign person in the patrol area of the drone comprises:
acquiring a personnel image in the patrol area shot by the unmanned aerial vehicle;
identifying whether a person in the person image wears an identity identification card;
and if the fact that the personnel wear the identity identification card is not recognized, determining that the patrol area is invaded by the external personnel.
4. The method of claim 1, further comprising:
detecting whether an obstacle exists in front of a flight based on the 3D model of the patrol area and an omnidirectional vision system in the process that the unmanned aerial vehicle tracks the foreign person;
and if so, carrying out obstacle avoidance processing.
5. The method of claim 1, wherein prior to determining whether there is an intrusion of a foreign person in the patrol area of the drone, the method further comprises:
determining a patrol route of the unmanned aerial vehicle in the patrol area;
and patrolling the patrol area according to the patrol route.
6. The method of claim 1, wherein after tracking the alien personnel based on the location information of the alien personnel, the method further comprises:
when the electric quantity of the unmanned aerial vehicle is determined to be lower than a preset value, determining the position of a charging pile, and moving to the position of the charging pile for charging;
and outputting prompt information, wherein the prompt information is used for prompting the background control terminal to schedule another unmanned aerial vehicle to continue tracking the foreign personnel.
7. The method of claim 1, further comprising:
detecting whether gas abnormality exists in the patrol area through a gas sensor;
and if so, outputting alarm information.
8. The method of claim 1, wherein the surface of the fuselage of the drone is covered with a rain-proof, anti-corrosion, breathable membrane.
9. An unmanned aerial vehicle patrol device, characterized in that the device includes:
the personnel identification module is used for determining whether a foreign person intrudes into a patrol area of the unmanned aerial vehicle;
the position determining module is used for acquiring the position information of an external person if the external person intrudes into the patrol area;
and the tracking module is used for tracking the external personnel according to the position information of the external personnel.
10. A drone comprising a processor and a memory, the memory storing computer readable instructions that, when executed by the processor, perform the method of any one of claims 1-8.
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| CN115190272A (en) * | 2022-07-04 | 2022-10-14 | 项聪 | Internet remote monitoring system |
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Application publication date: 20201120 |