阅读说明：本技术 一种无人机监测追踪方法、装置、设备及存储介质 (Unmanned aerial vehicle monitoring and tracking method, device, equipment and storage medium ) 是由 冯银华 冷杰 于 2021-09-27 设计创作，主要内容包括：本发明实施例公开了一种无人机监测追踪方法、装置、设备及存储介质。一种无人机监测追踪方法,包括：获取至少一架无人机监测到的待测物体的识别数据；将识别数据上传至备案校验服务器进行对比识别,确定待测物体中的目标物体,并获取反馈信息；根据反馈信息控制无人机对目标物体进行追踪和探测；实时获取目标物体的位置数据和探测数据,并在数据显示界面上进行展示。解决需要人工识别和操作导致的监测追踪效率和准确率较低,人工成本较高的问题,实现自动识别目标物体,提高监测追踪效率和准确率,降低人工成本效果。(The embodiment of the invention discloses a method, a device, equipment and a storage medium for monitoring and tracking an unmanned aerial vehicle. An unmanned aerial vehicle monitoring and tracking method comprises the following steps: acquiring identification data of an object to be detected monitored by at least one unmanned aerial vehicle; uploading the identification data to a docket verification server for comparison and identification, determining a target object in the object to be detected, and acquiring feedback information; controlling the unmanned aerial vehicle to track and detect the target object according to the feedback information; and acquiring position data and detection data of the target object in real time, and displaying the position data and the detection data on a data display interface. The problems that monitoring tracking efficiency and accuracy are low and labor cost is high due to manual identification and operation are solved, the target object is automatically identified, the monitoring tracking efficiency and accuracy are improved, and the labor cost effect is reduced.)

1. An unmanned aerial vehicle monitoring and tracking method is characterized by comprising the following steps:

acquiring identification data of an object to be detected monitored by at least one unmanned aerial vehicle;

uploading the identification data to a filing verification server for comparison and identification, determining a target object in the object to be detected, and acquiring feedback information;

controlling the unmanned aerial vehicle to track and detect the target object according to the feedback information;

and acquiring the position data and the detection data of the target object in real time, and displaying the position data and the detection data on a data display interface.

2. The method for monitoring and tracking the unmanned aerial vehicle as claimed in claim 1, wherein the obtaining of the identification data of the object to be detected monitored by the at least one unmanned aerial vehicle comprises:

sending a monitoring tracking control command to at least one unmanned aerial vehicle according to the task information;

controlling the unmanned aerial vehicle to carry out recognition shooting in a preset area to obtain a first image;

and controlling the unmanned aerial vehicle to acquire identification data of the object to be detected by identifying the first image, wherein the identification data comprises an object type, shape data, identification data, driving data and a detection mark.

3. The unmanned aerial vehicle monitoring and tracking method according to claim 1, wherein the uploading the identification data to a docket verification server for comparison and identification, determining a target object in the object to be detected, and obtaining feedback information includes:

uploading the identification data to a record verification server for comparison and identification to obtain a target object which is not subjected to data record in the object to be detected;

and acquiring feedback information corresponding to the target object.

4. The unmanned aerial vehicle monitoring and tracking method according to claim 1, wherein the controlling the unmanned aerial vehicle to track and detect the target object according to the feedback information comprises:

controlling the unmanned aerial vehicle to track and follow the target object according to the feedback information;

and if the identification data corresponding to the target object comprises a detection mark, controlling the unmanned aerial vehicle to detect the target object.

5. The unmanned aerial vehicle monitoring and tracking method according to claim 1, wherein the acquiring of the position data and the detection data of the target object in real time and displaying on a data display interface comprises:

acquiring position data of the target object in real time through the unmanned aerial vehicle, wherein the position data comprises position coordinate data and speed data;

and displaying the position data or displaying the generated two-dimensional code link on a data display interface in real time.

6. The method for monitoring and tracking the unmanned aerial vehicle as claimed in claim 1, wherein after the obtaining of the identification data of the object to be detected monitored by the at least one unmanned aerial vehicle, the method further comprises:

and acquiring marking operation of the flyer, and acquiring corresponding identification data of the object to be detected according to the marking information.

7. The unmanned aerial vehicle monitoring and tracking method of claim 1, further comprising:

sending out an alarm prompt according to the feedback information;

and receiving alarm cancellation information, stopping alarm reminding according to the alarm cancellation information, and canceling tracking and detection of the target object.

8. An unmanned aerial vehicle monitoring and tracking device, comprising:

the system comprises an object to be detected acquisition module, a data acquisition module and a data acquisition module, wherein the object to be detected acquisition module is used for acquiring identification data of an object to be detected monitored by at least one unmanned aerial vehicle;

the verification module is used for uploading the identification data to a filing verification server for comparison and identification, determining a target object in the object to be detected and acquiring feedback information;

the alarm tracking module is used for controlling the unmanned aerial vehicle to track and detect the target object according to the feedback information;

and the tracking display module is used for acquiring the position data and the detection data of the target object in real time and displaying the position data and the detection data on a data display interface.

9. An unmanned aerial vehicle monitoring and tracking device, the unmanned aerial vehicle monitoring and tracking device comprising:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the drone monitoring tracking method of any one of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the drone monitoring and tracking method according to any one of claims 1 to 7.

Technical Field

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a method, a device, equipment and a storage medium for monitoring and tracking an unmanned aerial vehicle.

Background

Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle's application field is more and more wide, and unmanned aerial vehicle uses gradually in the monitoring field of land transportation and water route traffic.

The existing technology is that an unmanned aerial vehicle or a monitoring device identifies the type of a target object in real time, and performs framing marking through the identified target coordinate position, or a user selects one of the target objects to track the target object. Due to the fact that target objects need to be identified manually and tracking operation needs to be carried out manually, the problems that monitoring and tracking efficiency and accuracy are low and labor cost is high exist.

Disclosure of Invention

The invention provides a method, a device, equipment and a storage medium for monitoring and tracking an unmanned aerial vehicle, which are used for automatically identifying a target object, improving the monitoring and tracking efficiency and accuracy and reducing the labor cost.

In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle monitoring and tracking method, including:

acquiring identification data of an object to be detected monitored by at least one unmanned aerial vehicle;

uploading the identification data to a filing verification server for comparison and identification, determining a target object in the object to be detected, and acquiring feedback information;

controlling the unmanned aerial vehicle to track and detect the target object according to the feedback information;

and acquiring the position data and the detection data of the target object in real time, and displaying the position data and the detection data on a data display interface.

Optionally, the acquiring identification data of the object to be detected monitored by at least one unmanned aerial vehicle includes:

sending a monitoring tracking control command to at least one unmanned aerial vehicle according to the task information;

controlling the unmanned aerial vehicle to carry out recognition shooting in a preset area to obtain a first image;

and controlling the unmanned aerial vehicle to recognize the first image and acquire the recognition data of the object to be detected, wherein the recognition data comprises an object type, shape data, identification data, driving data and a detection mark.

Optionally, the uploading the identification data to a docket verification server for comparison and identification, determining a target object in the object to be detected, and acquiring feedback information includes:

uploading the identification data to a record verification server for comparison and identification to obtain a target object which is not subjected to data record in the object to be detected;

and acquiring feedback information corresponding to the target object.

Optionally, the controlling the unmanned aerial vehicle to track and detect the target object according to the feedback information includes:

controlling the unmanned aerial vehicle to track and follow the target object according to the feedback information;

and if the identification data corresponding to the target object comprises a detection mark, controlling the unmanned aerial vehicle to detect the target object.

Optionally, the acquiring the position data and the detection data of the target object in real time and displaying the position data and the detection data on a data display interface includes:

acquiring position data of the target object in real time through the unmanned aerial vehicle, wherein the position data comprises position coordinate data and speed data;

and displaying the position data or displaying the generated two-dimensional code link on a data display interface in real time.

Optionally, after the identification data of the object to be detected monitored by at least one unmanned aerial vehicle is obtained, the method further includes:

and acquiring marking operation of the flyer, and acquiring corresponding identification data of the object to be detected according to the marking information.

Optionally, the method further includes:

sending out an alarm prompt according to the feedback information;

and receiving alarm cancellation information, stopping alarm reminding according to the alarm cancellation information, and canceling tracking and detection of the target object.

In a second aspect, an embodiment of the present invention further provides an unmanned aerial vehicle monitoring and tracking apparatus, including:

the system comprises an object to be detected acquisition module, a data acquisition module and a data acquisition module, wherein the object to be detected acquisition module is used for acquiring identification data of an object to be detected monitored by at least one unmanned aerial vehicle;

the verification module is used for uploading the identification data to a filing verification server for comparison and identification, determining a target object in the object to be detected and acquiring feedback information;

the alarm tracking module is used for controlling the unmanned aerial vehicle to track and detect the target object according to the feedback information;

and the tracking display module is used for acquiring the position data and the detection data of the target object in real time and displaying the position data and the detection data on a data display interface.

In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle monitoring and tracking device, where the unmanned aerial vehicle monitoring and tracking device includes:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the drone monitoring tracking method of any one of the first aspects.

In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the drone monitoring and tracking method according to any one of the first aspect.

According to the invention, the identification data of the object to be detected monitored by at least one unmanned aerial vehicle is acquired, the identification data is uploaded to the filing verification server for comparison and identification, the target object in the object to be detected is determined, the feedback information is acquired, the unmanned aerial vehicle is controlled to track and detect the target object according to the feedback information, the position data and the detection data of the target object are displayed on the data display interface in real time, the problems of low monitoring and tracking efficiency and accuracy and high labor cost caused by manual identification and operation are solved, the target object is automatically identified, the monitoring and tracking efficiency and accuracy are improved, and the labor cost effect is reduced.

Drawings

Fig. 1A is a schematic flowchart of a method for monitoring and tracking an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 1B is a schematic view of a data display interface of a monitoring and tracking method for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an unmanned aerial vehicle monitoring and tracking apparatus according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of an unmanned aerial vehicle monitoring and tracking device according to a third embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1A is a schematic flow diagram of a monitoring and tracking method for an unmanned aerial vehicle according to an embodiment of the present invention, and fig. 1B is a schematic data display interface diagram of the monitoring and tracking method for an unmanned aerial vehicle according to an embodiment of the present invention. The embodiment is applicable to the case that the unmanned aerial vehicle patrols, monitors and tracks the set area according to the task information, and the method can be executed by an unmanned aerial vehicle monitoring and tracking device, as shown in fig. 1A, and specifically includes the following steps:

and 110, acquiring identification data of the object to be detected monitored by at least one unmanned aerial vehicle.

The unmanned aerial vehicle and a matched remote controller are in communication connection through real-time image transmission, and meanwhile, the remote controller is connected to an unmanned aerial vehicle command center server through a network cable, wifi or 5G network. The unmanned aerial vehicle command center is connected with at least one online unmanned aerial vehicle, and the unmanned aerial vehicle command center acquires online data of the online unmanned aerial vehicle in real time, and acquires identification data of an object to be detected monitored by the at least one unmanned aerial vehicle executing a monitoring and tracking task when the unmanned aerial vehicle command center controls the unmanned aerial vehicle to monitor and track.

Wherein, step 110 specifically includes:

and step 111, sending a monitoring tracking control command to at least one unmanned aerial vehicle according to the task information.

When a user needs to execute a monitoring and tracking task on a preset area, according to preset task information or user-customized task information, the user opens a tracking and identifying function of a target unmanned aerial vehicle corresponding to the task information through an automatic control or manual operation unmanned aerial vehicle command center server, and sends a monitoring and tracking control instruction to at least one target unmanned aerial vehicle executing the monitoring and tracking task. The task information may include parameters such as a task execution area, a task execution time, a task execution object, a task execution period, a type of the object to be tested, and the like, the task execution object may be one unmanned aerial vehicle or multiple unmanned aerial vehicles, and the task execution period may be periodic cycle execution or a one-time task.

And 112, controlling the unmanned aerial vehicle to perform recognition shooting in a preset area to obtain a first image.

The unmanned aerial vehicle command center controls the unmanned aerial vehicle to fly in a preset area corresponding to the task information and to recognize and shoot through the monitoring tracking control instruction, and a first image, namely a real-time image transmission picture of the unmanned aerial vehicle, is obtained.

And 113, controlling the unmanned aerial vehicle to recognize the first image, and acquiring the recognition data of the object to be detected, wherein the recognition data comprises an object type, shape data, identification data, driving data and a detection mark.

The unmanned aerial vehicle shoots and obtains data that first image contains multiple object, directly shows on the data display interface of unmanned aerial vehicle control center and is unfavorable for the user to obtain the target information that wants, and the first image that obtains carries out real-time discernment and processing through unmanned aerial vehicle's AI algorithm module earlier, obtains the object to be measured that task information corresponds and the identification data of the object to be measured, filters other objects and corresponding data. The AI algorithm module simulates training vehicle models, ship models, license plate data, ship board data and the like through deep learning of a large amount of data, and automatic and accurate AI matching is achieved.

Illustratively, a user needs to monitor and track a motor vehicle in a preset road area, the type of an object to be detected in task information is the motor vehicle, a first image acquired by an unmanned aerial vehicle includes relevant data such as buildings, pedestrians, motor vehicles and non-motor vehicles, and an AI algorithm module processes the first image to identify the motor vehicle therein, so as to obtain identification data of the motor vehicle and the motor vehicle. The identification data includes an object type, shape data, identification data, driving data and a detection mark, for example, the object type is a motor vehicle, the shape data is a vehicle type of the vehicle, such as a car, a bus, a truck and the like, the identification data is an identification of the motor vehicle, such as license plate numbers suspended at the front end and the rear end of the motor vehicle, the driving data includes a forward direction, a driving speed and the like, and the detection mark is a suspicious article mark identified by the AI algorithm module, such as goods in a truck compartment; if the ship in the preset sea surface area is monitored and tracked, the type of the object to be detected in the task information is the ship, the type of the object in the identification data is the ship, the shape data is the type of the ship, such as a container ship, a bulk carrier, a mail ship, a sand carrier and the like, the identification data is the identification of the ship, such as a side number marked on the ship body, the driving data comprises the advancing direction, the driving speed and the like, and the detection mark can also be the cargo carried by the ship.

Further, the method also comprises the following steps: and acquiring marking operation of the flyer, and acquiring corresponding identification data of the object to be detected according to the marking information.

Except that the AI algorithm module of unmanned aerial vehicle carries out real-time identification and obtains the object to be measured that the task information corresponds and the identification data of the object to be measured, can also carry out manual mark operation through the flight hand of unmanned aerial vehicle's remote controller end, the flight hand looks over unmanned aerial vehicle's real-time picture in the display interface of remote controller and passes the picture, select the object of key concern from it and mark, obtain the object to be measured and the identification data that the marking information corresponds according to the marking information, the identification data of the object to be measured after the discernment of intercommunication AI algorithm module and processing is together transmitted to unmanned aerial vehicle control center.

And 120, uploading the identification data to a record checking server for comparison and identification, determining a target object in the object to be detected, and acquiring feedback information.

The identification data can be uploaded through a mobile terminal connected with a remote controller of the unmanned aerial vehicle, and can also be transmitted to an unmanned aerial vehicle control center firstly and then uploaded by the unmanned aerial vehicle control center. The record verification server prestores data of all registered vehicles, ships and other transportation tools.

Wherein, step 120 specifically includes:

and 121, uploading the identification data to a record verification server for comparison and identification to obtain a target object which is not subjected to data record in the object to be detected.

Uploading the identification data to a filing verification server of the public security system for data comparison and identification, and quickly searching whether a corresponding filing object exists in the filing verification server through the object type and the identification data in the identification data; if not, marking the object to be detected as a target object; if the object type and the identification data are consistent, the corresponding record object is searched, and whether the record object is consistent with the shape data in the identification data or not and whether the record object allows goods corresponding to the detection mark to be carried or not are checked.

And step 122, obtaining feedback information corresponding to the target object.

When the object to be detected is not marked as the target object, no feedback information is generated, when the object to be detected is marked as the target object, the feedback information is generated, and the unmanned aerial vehicle control center and the remote controller end both acquire the feedback information of the target object returned by the record verification server.

And step 130, controlling the unmanned aerial vehicle to track and detect the target object according to the feedback information.

After receiving the feedback information, the unmanned aerial vehicle control center and/or the remote controller continuously tracks and detects the target object according to the feedback information, and further verifies the identified target object.

Wherein, step 130 specifically includes:

and 131, controlling the unmanned aerial vehicle to track and shoot the target object according to the feedback information.

According to feedback information control unmanned aerial vehicle locks the target object, real-time tracking with clapping the state of target object, when the unmanned aerial vehicle of carrying out the task has many, can track simultaneously with clapping a plurality of target objects, also can many unmanned aerial vehicles follow not equidirectional tracking simultaneously with clapping a target object.

Step 132, if the identification data corresponding to the target object includes a detection mark, controlling the unmanned aerial vehicle to detect the target object.

After the target object is determined, not only the target object needs to be tracked and photographed, but also whether goods carried on the target object are in compliance needs to be further determined. If the identification data corresponding to the target object does not include the detection mark, only tracking and shooting the target object; if the identification data corresponding to the target object comprises the detection mark, the unmanned aerial vehicle is controlled to be switched to the mounted infrared camera for detection shooting, the type and the quantity of cargos can be detected according to the image shot by the infrared camera, and police tasks such as illegal vehicle/ship tracking tasks, forbidden object inspection and treatment tasks, overload inspection and treatment tasks and the like can be completed by cooperation with public security workers.

And 140, acquiring the position data and the detection data of the target object in real time, and displaying the position data and the detection data on a data display interface.

When one unmanned aerial vehicle executes a monitoring and tracking task, the unmanned aerial vehicle control center acquires real-time image transmission pictures and data transmitted back by the unmanned aerial vehicle, and displays the pictures and the data on a data display interface according to a grid layout; when a plurality of unmanned aerial vehicles execute the monitoring and tracking task, the unmanned aerial vehicle control center acquires real-time image transmission images and data transmitted back by the plurality of unmanned aerial vehicles, and the images and the data are displayed on a data display interface according to a multi-grid layout. Wherein, the data that unmanned aerial vehicle returned include the position data and the detection data of target object.

Wherein, step 140 specifically includes:

step 141, obtaining position data of the target object in real time by the unmanned aerial vehicle, where the position data includes position coordinate data and speed data.

After the target object is locked, the laser radar module that unmanned aerial vehicle accessible set up acquires the position data of target object in real time, and position data includes position coordinate data and speed data, and unmanned aerial vehicle control center acquires that position data can be real-time accurate acquire specific coordinate data, relative distance data, speed data etc. of target object.

And 142, displaying the position data or displaying the generated two-dimensional code link on a data display interface in real time.

As shown in fig. 1B, the position data of the target object 11 is highlighted on the data display interface 10, for example, the target object 11 is highlighted by frame selection or a special color, and the position data is displayed in the target area 12 of the data display interface 10, which is beneficial for a user to observe the target object with suspicious situation in real time, and assist a public security organization to check and capture the target object. Furthermore, a two-dimensional code link generated according to the position data of the target object can be displayed on the data display interface, and a user can share the two-dimensional code link to a public security organization or related workers quickly to assist the public security organization to know the real-time position data of the target object and complete tracking and tracing of the target object.

Further, the method also comprises the following steps:

sending out an alarm prompt according to the feedback information;

and receiving alarm cancellation information, stopping alarm reminding according to the alarm cancellation information, and canceling tracking and detection of the target object.

After receiving the feedback information, the unmanned aerial vehicle control center and/or the remote controller end sends out an alarm prompt according to the feedback information, for example, the unmanned aerial vehicle control center and/or the remote controller end prompts a user to pay attention to the real-time state of the target object through an acousto-optic alarm, or sends a corresponding alarm prompt to a corresponding worker, and prompts the worker to perform field check.

After a user observes for a period of time through the data display interface, the suspicious situation of the target object can be manually eliminated, and the user manually inputs alarm cancellation information; the suspicious situation of the target object may also be eliminated according to the verification feedback of the on-site verifying personnel, and the system automatically generates the alarm cancellation information, for example, after the public security organization or the related staff performs the on-site verification on the target object, it is determined that the target object has no violation, the verification result of the suspicious situation of the target object is uploaded, and the system automatically generates the alarm cancellation information. And after receiving the alarm canceling information, the unmanned aerial vehicle control center stops alarm reminding according to the alarm canceling information, cancels tracking and detection of the target object, and simultaneously marks the completion of the monitoring and tracking task.

The technical scheme of the embodiment includes acquiring identification data of an object to be detected monitored by at least one unmanned aerial vehicle, uploading the identification data to a filing verification server for comparison and identification, determining a target object in the object to be detected and acquiring feedback information, controlling the unmanned aerial vehicle to track and detect the target object according to the feedback information, displaying position data and detection data of the target object on a data display interface in real time, assisting police authorities to perform police tasks such as illegal ship/vehicle tracking tasks, prohibited object detection tasks and overload detection tasks by an automatic AI technology, realizing automatic smuggling criminal activities, being widely applied to the field of monitoring of land traffic and water traffic, solving the problems of low monitoring and tracking efficiency and accuracy rate and high labor cost caused by manual identification and operation, and realizing automatic identification of the target object, the efficiency and the rate of accuracy are tracked in the improvement monitoring, reduce the cost of labor effect.

Example two

Fig. 2 is a schematic structural view of a monitoring and tracking device for an unmanned aerial vehicle according to a second embodiment of the present invention, as shown in fig. 2,

an unmanned aerial vehicle monitoring and tracking device, comprising:

the object to be detected acquisition module 210 is configured to acquire identification data of an object to be detected monitored by at least one unmanned aerial vehicle.

The unmanned aerial vehicle command center is connected with at least one online unmanned aerial vehicle, and the unmanned aerial vehicle command center acquires online data of the online unmanned aerial vehicle in real time, and acquires identification data of an object to be detected monitored by the at least one unmanned aerial vehicle executing a monitoring and tracking task when the unmanned aerial vehicle command center controls the unmanned aerial vehicle to monitor and track.

Optionally, the object-to-be-measured acquisition module 210 includes:

and the monitoring tracking control instruction issuing unit is used for sending a monitoring tracking control instruction to at least one unmanned aerial vehicle according to the task information.

And the first image acquisition unit is used for controlling the unmanned aerial vehicle to recognize and shoot in a preset area to obtain a first image.

And the identification data acquisition unit is used for controlling the unmanned aerial vehicle to recognize the first image and acquire identification data of the object to be detected, wherein the identification data comprises an object type, shape data, identification data, driving data and a detection mark.

And the verification module 220 is configured to upload the identification data to a docket verification server for comparison and identification, determine a target object in the object to be detected, and acquire feedback information.

The identification data can be uploaded through a mobile terminal connected with a remote controller of the unmanned aerial vehicle, and can also be transmitted to an unmanned aerial vehicle control center firstly and then uploaded by the unmanned aerial vehicle control center. The record verification server prestores data of all registered vehicles, ships and other transportation tools. The identification data is uploaded to a record verification server of the public security system for data comparison and identification, whether a corresponding record object exists can be quickly searched in the record verification server through the object type and the identification data in the identification data, the object to be detected which does not accord with the record information is marked as a target object according to the search result, and feedback information is generated.

Optionally, the checking module 220 includes:

and the target object identification unit is used for uploading the identification data to a record verification server for comparison and identification to obtain a target object which is not subjected to data record in the object to be detected.

And the feedback information acquisition unit is used for acquiring the feedback information corresponding to the target object.

And an alarm tracking module 230, configured to control the unmanned aerial vehicle to track and detect the target object according to the feedback information.

After receiving the feedback information, the unmanned aerial vehicle control center and/or the remote controller continuously tracks and detects the target object according to the feedback information, and further verifies the identified target object.

Optionally, the alarm tracking module 230 includes:

and the tracking and tracking unit is used for controlling the unmanned aerial vehicle to track and track the target object according to the feedback information.

And the detection unit is used for controlling the unmanned aerial vehicle to detect the target object if the identification data corresponding to the target object comprises a detection mark.

And the tracking display module 240 is configured to acquire the position data and the detection data of the target object in real time, and display the position data and the detection data on a data display interface.

When one unmanned aerial vehicle executes a monitoring and tracking task, the unmanned aerial vehicle control center acquires real-time image transmission pictures and data transmitted back by the unmanned aerial vehicle, and displays the pictures and the data on a data display interface according to a grid layout; when a plurality of unmanned aerial vehicles execute the monitoring and tracking task, the unmanned aerial vehicle control center acquires real-time image transmission images and data transmitted back by the plurality of unmanned aerial vehicles, and the images and the data are displayed on a data display interface according to a multi-grid layout. Wherein, the data that unmanned aerial vehicle returned include the position data and the detection data of target object.

Optionally, the tracking display module 240 includes:

and the position data acquisition unit is used for acquiring the position data of the target object in real time through the unmanned aerial vehicle, and the position data comprises position coordinate data and speed data.

And the data display unit is used for displaying the position data or displaying the generated two-dimensional code link on a data display interface in real time.

Further, unmanned aerial vehicle monitoring tracer still includes:

and the manual marking module is used for acquiring marking operation of the flyer and acquiring corresponding identification data of the object to be detected according to the marking information.

Further, unmanned aerial vehicle monitoring tracer still includes:

the alarm reminding module is used for sending out alarm reminding according to the feedback information;

and the alarm canceling module is used for receiving alarm canceling information, stopping alarm reminding according to the alarm canceling information and canceling tracking and detection of the target object.

According to the invention, the identification data of the object to be detected monitored by at least one unmanned aerial vehicle is acquired, the identification data is uploaded to the filing verification server for comparison and identification, the target object in the object to be detected is determined, the feedback information is acquired, the unmanned aerial vehicle is controlled to track and detect the target object according to the feedback information, the position data and the detection data of the target object are displayed on the data display interface in real time, the problems of low monitoring and tracking efficiency and accuracy and high labor cost caused by manual identification and operation are solved, the target object is automatically identified, the monitoring and tracking efficiency and accuracy are improved, and the labor cost effect is reduced.

The unmanned aerial vehicle monitoring and tracking device provided by the embodiment of the invention can execute the unmanned aerial vehicle monitoring and tracking method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

EXAMPLE III

Fig. 3 is a schematic structural diagram of an unmanned aerial vehicle monitoring and tracking device according to a third embodiment of the present invention, as shown in fig. 3, the unmanned aerial vehicle monitoring and tracking device includes a processor 30, a memory 31, an input device 32, and an output device 33; the number of processors 30 in the drone monitoring and tracking device may be one or more, and one processor 30 is taken as an example in fig. 3; the processor 30, the memory 31, the input device 32 and the output device 33 in the drone monitoring and tracking device may be connected by a bus or other means, as exemplified by the bus connection in fig. 3.

The memory 31 is a computer-readable storage medium, and can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the monitoring and tracking method for the unmanned aerial vehicle in the embodiment of the present invention (for example, the to-be-detected object acquisition module 210, the verification module 220, the alarm tracking module 230, and the tracking display module 240 in the monitoring and tracking device for the unmanned aerial vehicle). The processor 30 executes various functional applications and data processing of the drone monitoring and tracking device by running software programs, instructions and modules stored in the memory 31, that is, the drone monitoring and tracking method is implemented.

The memory 31 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 31 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 31 may further include memory remotely located from the processor 30, which may be connected to the drone monitoring and tracking device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 32 may be used to receive entered numeric or character information and generate key signal inputs related to user settings and function control of the drone monitoring and tracking device. The output device 33 may include a display device such as a display screen.

Example four

An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions, when executed by a computer processor, are configured to perform a method for monitoring and tracking an unmanned aerial vehicle, where the method includes:

acquiring identification data of an object to be detected monitored by at least one unmanned aerial vehicle;

uploading the identification data to a filing verification server for comparison and identification, determining a target object in the object to be detected, and acquiring feedback information;

controlling the unmanned aerial vehicle to track and detect the target object according to the feedback information;

and acquiring the position data and the detection data of the target object in real time, and displaying the position data and the detection data on a data display interface.

Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the unmanned aerial vehicle monitoring and tracking method provided by any embodiment of the present invention.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.

It should be noted that, in the embodiment of the monitoring and tracking device for an unmanned aerial vehicle, each unit and each module included in the embodiment are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.